From 6ac7e8b7e4662c297e02ffc43e2cd52126753fa2 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 24 Feb 2013 15:56:02 -0800
Subject: [PATCH] Scale R/C inputs around the preset center, not the nominal
 center.

---
 apps/px4io/controls.c | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c
index 6b51647569..37872d3569 100644
--- a/apps/px4io/controls.c
+++ b/apps/px4io/controls.c
@@ -119,7 +119,6 @@ controls_tick() {
 
 	ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS);
 
-
 	/*
 	 * In some cases we may have received a frame, but input has still
 	 * been lost.
@@ -168,8 +167,8 @@ controls_tick() {
 
 				int16_t scaled = raw;
 
-				/* adjust to zero-relative (-500..500) */
-				scaled -= 1500;
+				/* adjust to zero-relative around center */
+				scaled -= conf[PX4IO_P_RC_CONFIG_CENTER];
 
 				/* scale to fixed-point representation (-10000..10000) */
 				scaled *= 20;