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Fix simulator PWM range

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Lorenz Meier
2015-12-14 16:16:25 +00:00
parent b8538c59ab
commit 988ff59103
1 changed files with 4 additions and 4 deletions
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src/modules/simulator/simulator_mavlink.cpp
+4 -4
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@@ -76,21 +76,21 @@ void Simulator::pack_actuator_message(mavlink_hil_controls_t &actuator_msg)
{ {
float out[8] = {}; 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;
// for now we only support quadrotors // for now we only support quadrotors
unsigned n = 4; unsigned n = 4;
if (_vehicle_status.is_rotary_wing || _vehicle_status.is_vtol) { if (_vehicle_status.is_rotary_wing || _vehicle_status.is_vtol) {
for (unsigned i = 0; i < 8; i++) { for (unsigned i = 0; i < 8; i++) {
if (_actuators.output[i] > PWM_LOWEST_MIN / 2) { if (_actuators.output[i] > PWM_DEFAULT_MIN / 2) {
if (i < n) { if (i < n) {
// scale PWM out 900..2100 us to 0..1 for rotors */ // scale PWM out 900..2100 us to 0..1 for rotors */
out[i] = (_actuators.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN); out[i] = (_actuators.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
} else { } else {
// scale PWM out 900..2100 us to -1..1 for other channels */ // scale PWM out 900..2100 us to -1..1 for other channels */
out[i] = (_actuators.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2); out[i] = (_actuators.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
} }
} else { } else {