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Sending correct actuator scaling

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Lorenz Meier
2012-11-10 18:35:53 +01:00
parent 13443e43bf
commit 92fe049f65
1 changed files with 8 additions and 8 deletions
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apps/mavlink/orb_listener.c
+8 -8
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@@ -444,14 +444,14 @@ l_actuator_outputs(struct listener *l)
/* HIL message as per MAVLink spec */
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
act_outputs.output[0],
act_outputs.output[1],
act_outputs.output[2],
act_outputs.output[3],
act_outputs.output[4],
act_outputs.output[5],
act_outputs.output[6],
act_outputs.output[7],
(act_outputs.output[0] - 1000.0f) / 1000.0f,
(act_outputs.output[1] - 1000.0f) / 1000.0f,
(act_outputs.output[2] - 1000.0f) / 1000.0f,
(act_outputs.output[3] - 1000.0f) / 1000.0f,
(act_outputs.output[4] - 1000.0f) / 1000.0f,
(act_outputs.output[5] - 1000.0f) / 1000.0f,
(act_outputs.output[6] - 1000.0f) / 1000.0f,
(act_outputs.output[7] - 1000.0f) / 1000.0f,
mavlink_mode,
0);
}