diff options
Diffstat (limited to 'apps/mavlink/mavlink_receiver.c')
-rw-r--r-- | apps/mavlink/mavlink_receiver.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index fb59d07a1..58761e89c 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -261,8 +261,8 @@ handle_message(mavlink_message_t *msg) offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid-1] / (float)INT16_MAX; offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid-1] / (float)INT16_MAX; - offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1] / (float)INT16_MAX; - offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1]/(float)UINT16_MAX; + offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1] / (float)INT16_MAX; + offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1] / (float)UINT16_MAX; if (quad_motors_setpoint.thrust[mavlink_system.sysid-1] == 0) { ml_armed = false; @@ -301,7 +301,7 @@ handle_message(mavlink_message_t *msg) /* Calculate Rotation Matrix */ //TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode - if(mavlink_system.type == MAV_TYPE_FIXED_WING) { + if (mavlink_system.type == MAV_TYPE_FIXED_WING) { //TODO: assuming low pitch and roll values for now hil_attitude.R[0][0] = cosf(hil_state.yaw); hil_attitude.R[0][1] = sinf(hil_state.yaw); |