diff options
Diffstat (limited to 'apps/mavlink/orb_listener.c')
| -rw-r--r-- | apps/mavlink/orb_listener.c | 32 |
1 files changed, 8 insertions, 24 deletions
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 9f85d5801..7c34fb474 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -511,32 +511,16 @@ 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[4] - 1500.0f) / 600.0f, - (act_outputs.output[5] - 1500.0f) / 600.0f, - (act_outputs.output[6] - 1500.0f) / 600.0f, - (act_outputs.output[7] - 1500.0f) / 600.0f, + (act_outputs.output[0] - 1500.0f) / 500.0f, + (act_outputs.output[1] - 1500.0f) / 500.0f, + (act_outputs.output[2] - 1500.0f) / 500.0f, + (act_outputs.output[3] - 1000.0f) / 1000.0f, + (act_outputs.output[4] - 1500.0f) / 500.0f, + (act_outputs.output[5] - 1500.0f) / 500.0f, + (act_outputs.output[6] - 1500.0f) / 500.0f, + (act_outputs.output[7] - 1500.0f) / 500.0f, mavlink_mode, 0); } |