dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Fix some scaling errors in the PWM <-> mixer-internal conversions.

This commit is contained in:
px4dev 2012-12-29 13:28:32 -08:00
parent 6b9d5dac4d
commit 0ae5997bd0
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
apps/px4io/mixer.cpp
View File

@ -126,7 +126,7 @@ mixer_tick(void)
for (unsigned i = 0; i < IO_SERVO_COUNT; i++) {
if (i < mixed) {
/* scale to servo output */
system_state.servos[i] = (outputs[i] * 1000.0f) + 1000;
system_state.servos[i] = (outputs[i] * 500.0f) + 1500;
} else {
/* set to zero to inhibit PWM pulse output */
system_state.servos[i] = 0;
@ -168,7 +168,7 @@ mixer_callback(uintptr_t handle,
/* scale from current PWM units (1000-2000) to mixer input values */
/* XXX this presents some ugly problems w.r.t failsafe and R/C input scaling that have to be addressed */
control = ((float)control_values[control_index] - 1000.0f) / 1000.0f;
control = ((float)control_values[control_index] - 1500.0f) / 500.0f;
return 0;
}