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Merge branch 'hil_scaling' into fw_control

This commit is contained in:
Thomas Gubler 2012-11-10 20:03:17 +01:00
parent bbfd31dd68 3e6e7647c9
commit 2b1e199b91
1 changed files with 9 additions and 9 deletions
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18
apps/mavlink/orb_listener.c
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@ -447,25 +447,25 @@ l_actuator_outputs(struct listener *l)
if (isfinite(act_outputs.output[3]) if (isfinite(act_outputs.output[3])
&& act_outputs.output[3] > 800 && act_outputs.output[3] < 2200) { && act_outputs.output[3] > 800 && act_outputs.output[3] < 2200) {
/* throttle is fourth output */ /* throttle is fourth output */
rudder = (act_outputs.output[2] - 1500.0f) / 1000.0f; rudder = (act_outputs.output[2] - 1500.0f) / 600.0f;
throttle = (act_outputs.output[3] - 1000.0f) / 1000.0f; throttle = (((act_outputs.output[3] - 1500.0f) / 600.0f) + 1.0f) / 2.0f;
} else { } else {
/* only three outputs, put throttle on position 4 / index 3 */ /* only three outputs, put throttle on position 4 / index 3 */
rudder = 0; rudder = 0;
throttle = (act_outputs.output[2] - 1000.0f) / 1000.0f; throttle = (((act_outputs.output[2] - 1500.0f) / 600.0f) + 1.0f) / 2.0f;
} }
/* HIL message as per MAVLink spec */ /* HIL message as per MAVLink spec */
mavlink_msg_hil_controls_send(chan, mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(), hrt_absolute_time(),
(act_outputs.output[0] - 1500.0f) / 1000.0f, (act_outputs.output[0] - 1500.0f) / 600.0f,
(act_outputs.output[1] - 1500.0f) / 1000.0f, (act_outputs.output[1] - 1500.0f) / 600.0f,
rudder, rudder,
throttle, throttle,
(act_outputs.output[4] - 1500.0f) / 1000.0f, (act_outputs.output[4] - 1500.0f) / 600.0f,
(act_outputs.output[5] - 1500.0f) / 1000.0f, (act_outputs.output[5] - 1500.0f) / 600.0f,
(act_outputs.output[6] - 1500.0f) / 1000.0f, (act_outputs.output[6] - 1500.0f) / 600.0f,
(act_outputs.output[7] - 1500.0f) / 1000.0f, (act_outputs.output[7] - 1500.0f) / 600.0f,
mavlink_mode, mavlink_mode,
0); 0);
} }