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Switch manual_control_setpoint.z scaling from [0,1] to [-1,1]

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To be consistent with all other axes of stick input and avoid future
rescaling confusion.

Note: for the MAVLink message 69 MANUAL_CONTROL it's using the full range
according to the message specs now [-1000,1000].
This commit is contained in:
Matthias Grob
2020-10-12 20:03:31 +02:00
parent 5579e319ff
commit 83246c84cf
13 changed files with 38 additions and 52 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+5 -4
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@@ -2138,10 +2138,11 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
}
manual_control_setpoint_s manual_control_setpoint{};
manual_control_setpoint.x = mavlink_manual_control.x / 1000.0f;
manual_control_setpoint.y = mavlink_manual_control.y / 1000.0f;
manual_control_setpoint.r = mavlink_manual_control.r / 1000.0f;
manual_control_setpoint.z = mavlink_manual_control.z / 1000.0f;
manual_control_setpoint.x = mavlink_manual_control.x / 1000.f;
manual_control_setpoint.y = mavlink_manual_control.y / 1000.f;
// For backwards compatibility at the moment interpret throttle in range [0,1000]
manual_control_setpoint.z = ((mavlink_manual_control.z / 1000.f) * 2.f) - 1.f;
manual_control_setpoint.r = mavlink_manual_control.r / 1000.f;
manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
manual_control_setpoint.timestamp = manual_control_setpoint.timestamp_sample = hrt_absolute_time();
_manual_control_input_pub.publish(manual_control_setpoint);