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APMrover2: fix servo_out to GCS message

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khancyr 2017-11-21 00:37:42 +01:00 committed by Randy Mackay
parent 005002736b
commit 279a57dc10
1 changed files with 10 additions and 7 deletions
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17
APMrover2/GCS_Mavlink.cpp
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@ -143,24 +143,27 @@ void Rover::send_nav_controller_output(mavlink_channel_t chan)
void Rover::send_servo_out(mavlink_channel_t chan) void Rover::send_servo_out(mavlink_channel_t chan)
{ {
#if HIL_MODE != HIL_MODE_DISABLED float motor1, motor3;
// normalized values scaled to -10000 to 10000 if (g2.motors.have_skid_steering()) {
// This is used for HIL. Do not change without discussing with motor1 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttleLeft) / 1000.0f);
// HIL maintainers motor3 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttleRight) / 1000.0f);
} else {
motor1 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_steering) / 4500.0f);
motor3 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) / 100.0f);
}
mavlink_msg_rc_channels_scaled_send( mavlink_msg_rc_channels_scaled_send(
chan, chan,
millis(), millis(),
0, // port 0 0, // port 0
10000 * channel_steer->norm_output(), motor1,
0, 0,
g2.motors.get_throttle(), motor3,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
receiver_rssi); receiver_rssi);
#endif
} }
void Rover::send_vfr_hud(mavlink_channel_t chan) void Rover::send_vfr_hud(mavlink_channel_t chan)