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Hotfix: Correct channel order in HIL

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Lorenz Meier
2013-03-10 01:00:16 +01:00
parent 921ef9178d
commit c720a32380
1 changed files with 2 additions and 18 deletions
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apps/mavlink/orb_listener.c
+2 -18
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@@ -511,28 +511,12 @@ l_actuator_outputs(struct listener *l)
0); 0);
} else { } else {
/*
* Catch the case where no rudder is in use and throttle is not
* on output four
*/
float rudder, throttle;
if (act_outputs.noutputs < 4) {
rudder = 0.0f;
throttle = (act_outputs.output[2] - 900.0f) / 1200.0f;
} else {
rudder = (act_outputs.output[2] - 1500.0f) / 600.0f;
throttle = (act_outputs.output[3] - 900.0f) / 1200.0f;
}
mavlink_msg_hil_controls_send(chan, mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(), hrt_absolute_time(),
(act_outputs.output[0] - 1500.0f) / 600.0f, (act_outputs.output[0] - 1500.0f) / 600.0f,
(act_outputs.output[1] - 1500.0f) / 600.0f, (act_outputs.output[1] - 1500.0f) / 600.0f,
rudder, (act_outputs.output[2] - 1500.0f) / 600.0f,
throttle, (act_outputs.output[3] - 900.0f) / 1200.0f,
(act_outputs.output[4] - 1500.0f) / 600.0f, (act_outputs.output[4] - 1500.0f) / 600.0f,
(act_outputs.output[5] - 1500.0f) / 600.0f, (act_outputs.output[5] - 1500.0f) / 600.0f,
(act_outputs.output[6] - 1500.0f) / 600.0f, (act_outputs.output[6] - 1500.0f) / 600.0f,