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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-21 14:42:57 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-21 14:42:57 +0200 |
| commit | 8a11f76994f74e4b38e861d559b305c707d78190 (patch) | |
| tree | 69c9f0c05e9b28be2d108c51f8f6604fd505c1b5 /apps/mavlink | |
| parent | eaa431e5ceaaab033510a522ffaf7a72e44e7ae6 (diff) | |
| download | px4-firmware-8a11f76994f74e4b38e861d559b305c707d78190.tar.gz px4-firmware-8a11f76994f74e4b38e861d559b305c707d78190.tar.bz2 px4-firmware-8a11f76994f74e4b38e861d559b305c707d78190.zip | |
Updated C files for attitude estimator
Diffstat (limited to 'apps/mavlink')
| -rw-r--r-- | apps/mavlink/mavlink.c | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 7eca3031d..f9c06099e 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -1077,8 +1077,8 @@ static void *uorb_receiveloop(void *arg) if (fds[ifds++].revents & POLLIN) { /* copy local position data into local buffer */ orb_copy(ORB_ID(manual_control_setpoint), subs->man_control_sp_sub, &buf.man_control); - mavlink_msg_manual_control_send(MAVLINK_COMM_0, mavlink_system.sysid, buf.man_control.roll, - buf.man_control.pitch, buf.man_control.yaw, buf.man_control.throttle, 0); + mavlink_msg_manual_control_send(MAVLINK_COMM_0, mavlink_system.sysid, buf.man_control.roll*1000, + buf.man_control.pitch*1000, buf.man_control.yaw*1000, buf.man_control.throttle*1000, 0); } /* --- ACTUATOR ARMED --- */ @@ -1427,10 +1427,10 @@ void handleMessage(mavlink_message_t *msg) struct manual_control_setpoint_s mc; static orb_advert_t mc_pub = 0; - mc.roll = man.x; - mc.pitch = man.y; - mc.yaw = man.r; - mc.roll = man.z; + mc.roll = man.x*1000; + mc.pitch = man.y*1000; + mc.yaw = man.r*1000; + mc.roll = man.z*1000; /* fake RC channels with manual control input from simulator */ |