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mavlink_receiver: refactor manual_control.throttle extraction to exactly match MAVLink output

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Matthias Grob 2025-03-21 10:55:20 +01:00
parent 80ea3a09bb
commit a048a8e8a0
1 changed files with 4 additions and 2 deletions
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src/modules/mavlink/mavlink_receiver.cpp
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@ -2093,8 +2093,10 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
if (math::isInRange((int)mavlink_manual_control.y, -1000, 1000)) { manual_control_setpoint.roll = mavlink_manual_control.y / 1000.f; }
// For backwards compatibility at the moment interpret throttle in range [0,1000]
if (math::isInRange((int)mavlink_manual_control.z, 0, 1000)) { manual_control_setpoint.throttle = ((mavlink_manual_control.z / 1000.f) * 2.f) - 1.f; }
// For backwards compatibility we need to interpret throttle in range [0,1000]
// Convert from [0, 1000] to internal range [-1, 1]
// (([0, 1000] / 1000 * 2) - 1 = [-1, 1]
if (math::isInRange((int)mavlink_manual_control.z, 0, 1000)) { manual_control_setpoint.throttle = (mavlink_manual_control.z / 500.f) - 1.f; }
if (math::isInRange((int)mavlink_manual_control.r, -1000, 1000)) { manual_control_setpoint.yaw = mavlink_manual_control.r / 1000.f; }