From 6c9a40b714bb311e2841289c9449f80effdf14ce Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 23 Mar 2014 14:34:15 +0100 Subject: Fixed the HIL actuator range to what it should be --- src/modules/mavlink/mavlink_messages.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/modules/mavlink/mavlink_messages.cpp') diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 037999af7..96852bb0e 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -811,8 +811,8 @@ protected: for (unsigned i = 0; i < 8; i++) { if (i < n) { if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { - /* scale fake PWM out 900..1200 us to 0..1*/ - out[i] = (act->output[i] - 900.0f) / 1200.0f; + /* scale fake PWM out 900..2100 us to -1..1*/ + out[i] = (act->output[i] - 1500.0f) / 600.0f; } else { /* send 0 when disarmed */ -- cgit v1.2.3