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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-19 11:34:51 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-19 11:34:51 +0100 |
| commit | bc3b66043f57adebdef3980f3a113d2d5362416a (patch) | |
| tree | f4e79be24be286b286d555a9b02d2f94a9cb4a3d /apps/sensors | |
| parent | f41e5728fc132a7cd2764f166e36ca4d2f5909ea (diff) | |
| download | px4-firmware-bc3b66043f57adebdef3980f3a113d2d5362416a.tar.gz px4-firmware-bc3b66043f57adebdef3980f3a113d2d5362416a.tar.bz2 px4-firmware-bc3b66043f57adebdef3980f3a113d2d5362416a.zip | |
Cleaned up HIL on FMU / IO combo
Diffstat (limited to 'apps/sensors')
| -rw-r--r-- | apps/sensors/sensors.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 94dbd0b21..bcc383330 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -1001,9 +1001,9 @@ Sensors::ppm_poll() // XXX hardcoded for testing purposes, replace with inverted delta mixer from ROMFS /* roll input - mixed roll and pitch channels */ - manual_control.roll = -0.5f * (_rc.chan[_rc.function[ROLL]].scaled - _rc.chan[_rc.function[PITCH]].scaled); + manual_control.roll = 0.5f * (_rc.chan[_rc.function[ROLL]].scaled - _rc.chan[_rc.function[PITCH]].scaled); /* pitch input - mixed roll and pitch channels */ - manual_control.pitch = -0.5f * (_rc.chan[_rc.function[ROLL]].scaled + _rc.chan[_rc.function[PITCH]].scaled); + manual_control.pitch = 0.5f * (_rc.chan[_rc.function[ROLL]].scaled + _rc.chan[_rc.function[PITCH]].scaled); /* yaw input - stick right is positive and positive rotation */ manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled; /* throttle input */ |