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Fixed the HIL actuator range to what it should be

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Lorenz Meier
2014-03-23 14:34:15 +01:00
parent 87dfdef69b
commit 6c9a40b714
2 changed files with 4 additions and 3 deletions
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ROMFS/px4fmu_common/init.d/rc.usb
+1
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@@ -10,6 +10,7 @@ mavlink start -r 10000 -d /dev/ttyACM0
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10 mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10 mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30 mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10
# Exit shell to make it available to MAVLink # Exit shell to make it available to MAVLink
exit exit
src/modules/mavlink/mavlink_messages.cpp
+2 -2
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@@ -811,8 +811,8 @@ protected:
for (unsigned i = 0; i < 8; i++) { for (unsigned i = 0; i < 8; i++) {
if (i < n) { if (i < n) {
if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
/* scale fake PWM out 900..1200 us to 0..1*/ /* scale fake PWM out 900..2100 us to -1..1*/
out[i] = (act->output[i] - 900.0f) / 1200.0f; out[i] = (act->output[i] - 1500.0f) / 600.0f;
} else { } else {
/* send 0 when disarmed */ /* send 0 when disarmed */