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Fixed a bug in HIL input

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Lorenz Meier
2012-09-29 22:04:00 +02:00
parent 7949ac1ad8
commit 6c4bddd996
1 changed files with 9 additions and 9 deletions
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apps/mavlink/mavlink.c
+9 -9
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@@ -1416,15 +1416,15 @@ void handleMessage(mavlink_message_t *msg)
memset(&rc_hil, 0, sizeof(rc_hil));
static orb_advert_t rc_pub = 0;
rc_hil.chan[0].raw = 1510 + man.x / 2;
rc_hil.chan[1].raw = 1520 + man.y / 2;
rc_hil.chan[2].raw = 1590 + man.r / 2;
rc_hil.chan[3].raw = 1420 + man.z / 2;
rc_hil.chan[0].raw = 1500 + man.x / 2;
rc_hil.chan[1].raw = 1500 + man.y / 2;
rc_hil.chan[2].raw = 1500 + man.r / 2;
rc_hil.chan[3].raw = 1500 + man.z / 2;
rc_hil.chan[0].scaled = man.x;
rc_hil.chan[1].scaled = man.y;
rc_hil.chan[2].scaled = man.r;
rc_hil.chan[3].scaled = man.z;
rc_hil.chan[0].scaled = man.x / 1000.0f;
rc_hil.chan[1].scaled = man.y / 1000.0f;
rc_hil.chan[2].scaled = man.r / 1000.0f;
rc_hil.chan[3].scaled = man.z / 1000.0f;
struct manual_control_setpoint_s mc;
static orb_advert_t mc_pub = 0;
@@ -1432,7 +1432,7 @@ void handleMessage(mavlink_message_t *msg)
mc.roll = man.x / 1000.0f;
mc.pitch = man.y / 1000.0f;
mc.yaw = man.r / 1000.0f;
mc.roll = man.z / 1000.0f;
mc.thrust = man.z / 1000.0f;
/* fake RC channels with manual control input from simulator */