From 988ff591030ba16484c256b0e05bb94d5f116136 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 14 Dec 2015 16:16:25 +0000 Subject: [PATCH] Fix simulator PWM range --- src/modules/simulator/simulator_mavlink.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index 12402b4632..507f220a43 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -76,21 +76,21 @@ void Simulator::pack_actuator_message(mavlink_hil_controls_t &actuator_msg) { float out[8] = {}; - const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2; + const float pwm_center = (PWM_DEFAULT_MAX + PWM_DEFAULT_MIN) / 2; // for now we only support quadrotors unsigned n = 4; if (_vehicle_status.is_rotary_wing || _vehicle_status.is_vtol) { for (unsigned i = 0; i < 8; i++) { - if (_actuators.output[i] > PWM_LOWEST_MIN / 2) { + if (_actuators.output[i] > PWM_DEFAULT_MIN / 2) { if (i < n) { // scale PWM out 900..2100 us to 0..1 for rotors */ - out[i] = (_actuators.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN); + out[i] = (_actuators.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN); } else { // scale PWM out 900..2100 us to -1..1 for other channels */ - out[i] = (_actuators.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2); + out[i] = (_actuators.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2); } } else {