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mavlink: in HIL_CONTROLS send 0 for disabled channels

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This commit is contained in:
Anton Babushkin
2014-08-13 19:46:35 +02:00
parent 54fc6aa678
commit 54a6e66ada
1 changed files with 13 additions and 8 deletions
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src/modules/mavlink/mavlink_messages.cpp
+13 -8
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@@ -1333,7 +1333,7 @@ protected:
}
for (unsigned i = 0; i < 8; i++) {
if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
if (act.output[i] > PWM_LOWEST_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);
@@ -1344,7 +1344,7 @@ protected:
}
} else {
/* send 0 when disarmed */
/* send 0 when disarmed and for disabled channels */
out[i] = 0.0f;
}
}
@@ -1353,15 +1353,20 @@ protected:
/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
for (unsigned i = 0; i < 8; i++) {
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);
if (act.output[i] > PWM_LOWEST_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);
} 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);
}
} 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);
/* set 0 for disabled channels */
out[i] = 0.0f;
}
}
}