From 5055144cd32ee94619791deae6debeef1a5b03a4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 10 Oct 2019 08:05:08 +1100
Subject: [PATCH] AP_Periph: fixed scaling of LEDs

RGBLed packets sent as 5:6:5 bits
---
 Tools/AP_Periph/can.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index bc60415f96..55b1655591 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -420,8 +420,13 @@ static void handle_lightscommand(CanardInstance* ins, CanardRxTransfer* transfer
     }
     for (uint8_t i=0; i<req.commands.len; i++) {
         uavcan_equipment_indication_SingleLightCommand &cmd = req.commands.data[i];
+        // to get the right color proportions we scale the green so that is uses the
+        // same number of bits as red and blue
+        const uint8_t red = cmd.color.red<<3;
+        const uint8_t green = (cmd.color.green>>1)<<3;
+        const uint8_t blue = cmd.color.blue<<3;
         hal.rcout->set_neopixel_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN, (1U<<HAL_PERIPH_NEOPIXEL_COUNT)-1,
-                                        cmd.color.red, cmd.color.green, cmd.color.blue);
+                                         red, green, blue);
     }
     hal.rcout->neopixel_send();
 }