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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-23 01:20:41 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-23 01:20:41 +0200 |
| commit | de530d6ba1fcbcaf65fc78ac8cca3286fa52d624 (patch) | |
| tree | b7de387487d99a24fc2913fa50475f66d8c8ce66 /apps/mavlink | |
| parent | 8b951ec417454353d61d19b3379e52b6da5dd6b6 (diff) | |
| download | px4-firmware-de530d6ba1fcbcaf65fc78ac8cca3286fa52d624.tar.gz px4-firmware-de530d6ba1fcbcaf65fc78ac8cca3286fa52d624.tar.bz2 px4-firmware-de530d6ba1fcbcaf65fc78ac8cca3286fa52d624.zip | |
General robustness improvements in PID struct, numerically close to bullet-proof, error reporting needs improvements still.
Diffstat (limited to 'apps/mavlink')
| -rw-r--r-- | apps/mavlink/mavlink.c | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 1f745baac..bf0ed346e 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -1415,10 +1415,10 @@ void handleMessage(mavlink_message_t *msg) memset(&rc_hil, 0, sizeof(rc_hil)); static orb_advert_t rc_pub = 0; - rc_hil.chan[0].raw = 1510 + man.x * 500; - rc_hil.chan[1].raw = 1520 + man.y * 500; - rc_hil.chan[2].raw = 1590 + man.r * 500; - rc_hil.chan[3].raw = 1420 + man.z * 500; + rc_hil.chan[0].raw = 1510 + man.x / 2; + rc_hil.chan[1].raw = 1520 + man.y / 2; + rc_hil.chan[2].raw = 1590 + man.r / 2; + rc_hil.chan[3].raw = 1420 + man.z / 2; rc_hil.chan[0].scaled = man.x; rc_hil.chan[1].scaled = man.y; @@ -1428,10 +1428,10 @@ void handleMessage(mavlink_message_t *msg) struct manual_control_setpoint_s mc; static orb_advert_t mc_pub = 0; - mc.roll = man.x*1000; - mc.pitch = man.y*1000; - mc.yaw = man.r*1000; - mc.roll = man.z*1000; + mc.roll = man.x / 1000.0f; + mc.pitch = man.y / 1000.0f; + mc.yaw = man.r / 1000.0f; + mc.roll = man.z / 1000.0f; /* fake RC channels with manual control input from simulator */ |