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[uavcan] Fix unitless actuator range conversion

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Input [1000us, 2000us] -> [-1, 1] output.
This commit is contained in:
Niklas Hauser 2025-05-28 11:17:11 +02:00
parent 38bcc50127
commit 4ff589b5a6
1 changed files with 1 additions and 1 deletions
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2
src/drivers/uavcan/actuators/servo.cpp
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@ -53,7 +53,7 @@ UavcanServoController::update_outputs(bool stop_motors, uint16_t outputs[MAX_ACT
uavcan::equipment::actuator::Command cmd;
cmd.actuator_id = i;
cmd.command_type = uavcan::equipment::actuator::Command::COMMAND_TYPE_UNITLESS;
cmd.command_value = (float)outputs[i] / 500.f - 1.f; // [-1, 1]
cmd.command_value = (float)outputs[i] / 500.f - 3.f; // [1000, 2000] -> [-1, 1]
msg.commands.push_back(cmd);
}