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Fix usage of PWM defines in mavlink app

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Lorenz Meier
2015-12-16 16:38:15 +00:00
parent 364da5343b
commit 9714af3a8b
1 changed files with 7 additions and 7 deletions
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src/modules/mavlink/mavlink_messages.cpp
+7 -7
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@@ -1801,7 +1801,7 @@ protected:
float out[8];
const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2;
const float pwm_center = (PWM_DEFAULT_MAX + PWM_DEFAULT_MIN) / 2;
unsigned system_type = _mavlink->get_system_type();
@@ -1839,14 +1839,14 @@ protected:
}
for (unsigned i = 0; i < 8; i++) {
if (act.output[i] > PWM_LOWEST_MIN / 2) {
if (act.output[i] > PWM_DEFAULT_MIN / 2) {
if (i < n) {
/* scale PWM out 900..2100 us to 0..1 for rotors */
out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
out[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
} else {
/* scale PWM out 900..2100 us to -1..1 for other channels */
out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
out[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
}
} else {
@@ -1859,14 +1859,14 @@ protected:
/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
for (unsigned i = 0; i < 8; i++) {
if (act.output[i] > PWM_LOWEST_MIN / 2) {
if (act.output[i] > PWM_DEFAULT_MIN / 2) {
if (i != 3) {
/* scale PWM out 900..2100 us to -1..1 for normal channels */
out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
out[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
} else {
/* scale PWM out 900..2100 us to 0..1 for throttle */
out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
out[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
}
} else {