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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-13 11:12:34 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-13 11:12:34 +0100 |
| commit | 1fc0a6546e30cfc913de8c0c03cfc625fba5d2ae (patch) | |
| tree | 65cf4f9b03e9dc63ffdf05ff698272f326d76908 /apps/mavlink | |
| parent | 26faab64e5e1679d15afe88ef0edebd598f47dc7 (diff) | |
| parent | 03076a72ca75917cf62d7889c6c6d0de36866b04 (diff) | |
| download | px4-firmware-1fc0a6546e30cfc913de8c0c03cfc625fba5d2ae.tar.gz px4-firmware-1fc0a6546e30cfc913de8c0c03cfc625fba5d2ae.tar.bz2 px4-firmware-1fc0a6546e30cfc913de8c0c03cfc625fba5d2ae.zip | |
Merged IO feature branch
Diffstat (limited to 'apps/mavlink')
| -rw-r--r-- | apps/mavlink/mavlink_receiver.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index fb59d07a1..58761e89c 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -261,8 +261,8 @@ handle_message(mavlink_message_t *msg) offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid-1] / (float)INT16_MAX; offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid-1] / (float)INT16_MAX; - offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1] / (float)INT16_MAX; - offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1]/(float)UINT16_MAX; + offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1] / (float)INT16_MAX; + offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1] / (float)UINT16_MAX; if (quad_motors_setpoint.thrust[mavlink_system.sysid-1] == 0) { ml_armed = false; @@ -301,7 +301,7 @@ handle_message(mavlink_message_t *msg) /* Calculate Rotation Matrix */ //TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode - if(mavlink_system.type == MAV_TYPE_FIXED_WING) { + if (mavlink_system.type == MAV_TYPE_FIXED_WING) { //TODO: assuming low pitch and roll values for now hil_attitude.R[0][0] = cosf(hil_state.yaw); hil_attitude.R[0][1] = sinf(hil_state.yaw); |