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AP_Winch: correct Daiwa line lengtha and speed scaling

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This commit is contained in:
Randy Mackay 2020-09-07 16:23:44 +09:00
parent 90e488d29d
commit 1c1caa9374
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_Winch/AP_Winch_Daiwa.cpp
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@ -60,7 +60,7 @@ void AP_Winch_Daiwa::send_status(const GCS_MAVLINK &channel)
} }
// convert speed percentage to absolute speed // convert speed percentage to absolute speed
const float speed_ms = fabsf(config.rate_max) * (float)latest.speed_pct; const float speed_ms = fabsf(config.rate_max) * (float)latest.speed_pct * 0.01f;
// send status // send status
mavlink_msg_winch_status_send( mavlink_msg_winch_status_send(

2
libraries/AP_Winch/AP_Winch_Daiwa.h
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@ -64,7 +64,7 @@ private:
static const uint8_t buff_len_max = 20; // buffer maximum length static const uint8_t buff_len_max = 20; // buffer maximum length
static const int16_t output_dz = 100; // output deadzone in scale of -1000 to +1000 static const int16_t output_dz = 100; // output deadzone in scale of -1000 to +1000
const float line_length_correction_factor = 0.0357f; // convert winch counter to meters const float line_length_correction_factor = 0.003333f; // convert winch counter to meters
AP_HAL::UARTDriver *uart; AP_HAL::UARTDriver *uart;
char buff[buff_len_max]; // buffer holding latest data from winch char buff[buff_len_max]; // buffer holding latest data from winch