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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-08-13 19:46:35 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-08-13 19:46:35 +0200 |
| commit | 54a6e66adafb7cca710bab3dc9e9c78c8b2390e8 (patch) | |
| tree | 2d474b8164a8e6e274fd85ccd7a93b4ab5902259 /src/modules/mavlink/mavlink_messages.cpp | |
| parent | 54fc6aa6788a125b387926a45023844daa42ec48 (diff) | |
| download | px4-firmware-54a6e66adafb7cca710bab3dc9e9c78c8b2390e8.tar.gz px4-firmware-54a6e66adafb7cca710bab3dc9e9c78c8b2390e8.tar.bz2 px4-firmware-54a6e66adafb7cca710bab3dc9e9c78c8b2390e8.zip | |
mavlink: in HIL_CONTROLS send 0 for disabled channels
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 21 |
1 files changed, 13 insertions, 8 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index c10be77b5..f292605c9 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1333,7 +1333,7 @@ protected: } for (unsigned i = 0; i < 8; i++) { - if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { + if (act.output[i] > PWM_LOWEST_MIN / 2) { if (i < n) { /* scale PWM out 900..2100 us to 0..1 for rotors */ out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN); @@ -1344,7 +1344,7 @@ protected: } } else { - /* send 0 when disarmed */ + /* send 0 when disarmed and for disabled channels */ out[i] = 0.0f; } } @@ -1353,15 +1353,20 @@ protected: /* fixed wing: scale throttle to 0..1 and other channels to -1..1 */ for (unsigned i = 0; i < 8; i++) { - if (i != 3) { - /* scale PWM out 900..2100 us to -1..1 for normal channels */ - out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2); + if (act.output[i] > PWM_LOWEST_MIN / 2) { + if (i != 3) { + /* scale PWM out 900..2100 us to -1..1 for normal channels */ + out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2); + + } else { + /* scale PWM out 900..2100 us to 0..1 for throttle */ + out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN); + } } else { - /* scale PWM out 900..2100 us to 0..1 for throttle */ - out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN); + /* set 0 for disabled channels */ + out[i] = 0.0f; } - } } |