Merge branch 'paul_estimator_numeric' of github.com:PX4/Firmware into paul_estimator_numeric

ROMFS/px4fmu_common/init.d/rc.usb

@@ -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 OPTICAL_FLOW -r 10
 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 
+exit

src/modules/mavlink/mavlink_messages.cpp

@@ -811,8 +811,8 @@ protected:
 			for (unsigned i = 0; i < 8; i++) {
 				if (i < n) {
 					if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
-						/* scale fake PWM out 900..1200 us to 0..1*/
-						out[i] = (act->output[i] - 900.0f) / 1200.0f;
+						/* scale fake PWM out 900..2100 us to -1..1*/
+						out[i] = (act->output[i] - 1500.0f) / 600.0f;
 
 					} else {
 						/* send 0 when disarmed */