From b063202b456a346e56b7ff45ba8a12a9f1a6ae61 Mon Sep 17 00:00:00 2001
From: Dmitry Ponomarev <ponomarevda96@gmail.com>
Date: Tue, 13 Dec 2022 14:46:41 +0300
Subject: [PATCH] Cyphal: remove setpoint scaling to 8192

---
 src/drivers/cyphal/Actuators/EscClient.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/drivers/cyphal/Actuators/EscClient.hpp b/src/drivers/cyphal/Actuators/EscClient.hpp
index 8d3f75fba6..c546c5b8b4 100644
--- a/src/drivers/cyphal/Actuators/EscClient.hpp
+++ b/src/drivers/cyphal/Actuators/EscClient.hpp
@@ -105,7 +105,7 @@ public:
 
 			for (uint8_t i = 0; i < MAX_ACTUATORS; i++) {
 				if (i < num_outputs) {
-					msg_sp.value[i] = static_cast<float>(outputs[i]);
+					msg_sp.value[i] = static_cast<float>(outputs[i] / 8192.0);
 
 				} else {
 					// "unset" values published as NaN