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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-10 01:00:16 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-10 01:00:16 +0100 |
| commit | c720a3238014e347fb84063a3fee2f9c812b3bf8 (patch) | |
| tree | cff325ee7abf7c85d3b9d50051bad72be5eb4c08 /apps | |
| parent | 921ef9178d58ff83dcad44d0584b4f71fb2cae6f (diff) | |
| download | px4-firmware-c720a3238014e347fb84063a3fee2f9c812b3bf8.tar.gz px4-firmware-c720a3238014e347fb84063a3fee2f9c812b3bf8.tar.bz2 px4-firmware-c720a3238014e347fb84063a3fee2f9c812b3bf8.zip | |
Hotfix: Correct channel order in HIL
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/mavlink/orb_listener.c | 20 |
1 files changed, 2 insertions, 18 deletions
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 9f85d5801..58c709aec 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -511,28 +511,12 @@ l_actuator_outputs(struct listener *l) 0); } else { - - /* - * Catch the case where no rudder is in use and throttle is not - * on output four - */ - float rudder, throttle; - - if (act_outputs.noutputs < 4) { - rudder = 0.0f; - throttle = (act_outputs.output[2] - 900.0f) / 1200.0f; - - } else { - rudder = (act_outputs.output[2] - 1500.0f) / 600.0f; - throttle = (act_outputs.output[3] - 900.0f) / 1200.0f; - } - mavlink_msg_hil_controls_send(chan, hrt_absolute_time(), (act_outputs.output[0] - 1500.0f) / 600.0f, (act_outputs.output[1] - 1500.0f) / 600.0f, - rudder, - throttle, + (act_outputs.output[2] - 1500.0f) / 600.0f, + (act_outputs.output[3] - 900.0f) / 1200.0f, (act_outputs.output[4] - 1500.0f) / 600.0f, (act_outputs.output[5] - 1500.0f) / 600.0f, (act_outputs.output[6] - 1500.0f) / 600.0f, |