From 6c4bddd9963bb241e478d3a6c7b95927afe4cd44 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 29 Sep 2012 22:04:00 +0200 Subject: [PATCH] Fixed a bug in HIL input --- apps/mavlink/mavlink.c | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index a1458ca03b..2ed9b840ff 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -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 */