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simulation: SITL outputs from 0..1

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Instead of sending actuator controls from -1..1 for SITL, we should send
0..1 like we already do for HIL. This will enable negative thrust in the
future, e.g. for pusher props that spin backwards, or for vehicles with
variable pitch propellers.
This commit is contained in:
Julian Oes
2016-10-28 23:56:46 +02:00
committed by Lorenz Meier
parent 0a043365ec
commit 62603bee45
5 changed files with 93 additions and 17 deletions
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src/modules/mavlink/mavlink_messages.cpp
+4 -4
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@@ -2172,11 +2172,11 @@ protected:
for (unsigned i = 0; i < 8; i++) {
if (act.output[i] > PWM_DEFAULT_MIN / 2) {
if (i < n) {
/* scale PWM out 900..2100 us to 0..1 for rotors */
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for rotors */
out[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
} else {
/* scale PWM out 900..2100 us to -1..1 for other channels */
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for other channels */
out[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
}
@@ -2192,11 +2192,11 @@ protected:
for (unsigned i = 0; i < 8; i++) {
if (act.output[i] > PWM_DEFAULT_MIN / 2) {
if (i != 3) {
/* scale PWM out 900..2100 us to -1..1 for normal channels */
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for normal channels */
out[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
} else {
/* scale PWM out 900..2100 us to 0..1 for throttle */
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to 0..1 for throttle */
out[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
}