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Correct scaling for throttle

This commit is contained in:
Lorenz Meier 2012-11-10 19:10:57 +01:00
parent fb022f40e5
commit f8291711d3
1 changed files with 2 additions and 2 deletions
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4
apps/mavlink/orb_listener.c
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@ -448,11 +448,11 @@ l_actuator_outputs(struct listener *l)
&& act_outputs.output[3] > 800 && act_outputs.output[3] < 2200) {
/* throttle is fourth output */
rudder = (act_outputs.output[2] - 1500.0f) / 1000.0f;
throttle = (act_outputs.output[3] - 1500.0f) / 1000.0f;
throttle = (act_outputs.output[3] - 1000.0f) / 1000.0f;
} else {
/* only three outputs, put throttle on position 4 / index 3 */
rudder = 0;
throttle = (act_outputs.output[2] - 1500.0f) / 1000.0f;
throttle = (act_outputs.output[2] - 1000.0f) / 1000.0f;
}
/* HIL message as per MAVLink spec */