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| author | px4dev <px4@purgatory.org> | 2013-02-24 15:56:02 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-02-24 15:56:02 -0800 |
| commit | 6ac7e8b7e4662c297e02ffc43e2cd52126753fa2 (patch) | |
| tree | b2190bb6218e156b7095f10cfebb11fa0594df55 /apps | |
| parent | 345b1a091554c92aa2d3e8e8df2b91cba2431aa5 (diff) | |
| download | px4-firmware-6ac7e8b7e4662c297e02ffc43e2cd52126753fa2.tar.gz px4-firmware-6ac7e8b7e4662c297e02ffc43e2cd52126753fa2.tar.bz2 px4-firmware-6ac7e8b7e4662c297e02ffc43e2cd52126753fa2.zip | |
Scale R/C inputs around the preset center, not the nominal center.
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/px4io/controls.c | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c index 6b5164756..37872d356 100644 --- a/apps/px4io/controls.c +++ b/apps/px4io/controls.c @@ -119,7 +119,6 @@ controls_tick() { ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS); - /* * In some cases we may have received a frame, but input has still * been lost. @@ -168,8 +167,8 @@ controls_tick() { int16_t scaled = raw; - /* adjust to zero-relative (-500..500) */ - scaled -= 1500; + /* adjust to zero-relative around center */ + scaled -= conf[PX4IO_P_RC_CONFIG_CENTER]; /* scale to fixed-point representation (-10000..10000) */ scaled *= 20; |