SITL: allow motor multiplier to work on quad simulation

2013-01-22 20:09:47 +11:00 · 2013-01-22 20:09:47 +11:00 · 37be83994f
commit 37be83994f
parent f0469a21f2
1 changed files with 1 additions and 0 deletions
--- a/libraries/AP_HAL_AVR_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_AVR_SITL/SITL_State.cpp
@ -393,6 +393,7 @@ void SITL_State::_simulator_output(void)
 		_motors_on = false;
 		for (i=0; i<4; i++) {
 			if ((control.pwm[i]-1000)/1000.0 > 0) {
+                control.pwm[i] = ((control.pwm[i]-1000) * _sitl->engine_mul) + 1000;                
 				_motors_on = true;
 			}
 		}