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fix: change MANUAL_CONTROL MAVLink message output throttle field range from [-1000, 1000] to [0, 1000]

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Peter Breuer 2025-03-19 18:29:17 -07:00 committed by Matthias Grob
parent b35753ded9
commit 80ea3a09bb
1 changed files with 3 additions and 1 deletions
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4
src/modules/mavlink/streams/MANUAL_CONTROL.hpp
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@ -70,7 +70,9 @@ private:
msg.target = mavlink_system.sysid;
msg.x = manual_control_setpoint.pitch * 1000.f;
msg.y = manual_control_setpoint.roll * 1000.f;
msg.z = manual_control_setpoint.throttle * 1000.f;
// Convert from internal range [-1, 1] to [0, 1000]
// ([-1, 1] + 1) / 2 * 1000 = [0, 1000]
msg.z = (manual_control_setpoint.throttle + 1.0f) * 500.0f;
msg.r = manual_control_setpoint.yaw * 1000.f;
manual_control_switches_s manual_control_switches{};