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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-07 10:27:55 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-07 10:27:55 +0100 |
| commit | c993ba5bbc9e9a2781d26a5837b5711298de45ab (patch) | |
| tree | 3c12a5f6d3bef27ccef6f56b0169ea35f2dc4735 /apps | |
| parent | 5ab8ea9226dfd9e1e1b5aded37d55ca2f7929e7f (diff) | |
| download | px4-firmware-c993ba5bbc9e9a2781d26a5837b5711298de45ab.tar.gz px4-firmware-c993ba5bbc9e9a2781d26a5837b5711298de45ab.tar.bz2 px4-firmware-c993ba5bbc9e9a2781d26a5837b5711298de45ab.zip | |
Fixed minor scaling issue, throttle range still half
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/px4io/controls.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c index 908334c47..b3b639857 100644 --- a/apps/px4io/controls.c +++ b/apps/px4io/controls.c @@ -173,10 +173,10 @@ controls_tick() { * DO NOT REMOVE OR ALTER STEP 1! */ if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 20.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); + scaled = 20000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 20.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); + scaled = 20000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); } else { /* in the configured dead zone, output zero */ |