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Cleaned up HIL on FMU / IO combo

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This commit is contained in:
Lorenz Meier
2012-12-19 11:34:51 +01:00
parent f41e5728fc
commit bc3b66043f
5 changed files with 21 additions and 26 deletions
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apps/mavlink/orb_listener.c
+2 -17
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@@ -506,28 +506,13 @@ l_actuator_outputs(struct listener *l)
mavlink_mode,
0);
} else {
float rudder, throttle;
/* SCALING: PWM min: 900, PWM max: 2100, center: 1500 */
// XXX very ugly, needs rework
if (isfinite(act_outputs.output[3])
&& act_outputs.output[3] > 800 && act_outputs.output[3] < 2200) {
/* throttle is fourth output */
rudder = (act_outputs.output[2] - 1500.0f) / 600.0f;
throttle = (((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f);
} else {
/* only three outputs, put throttle on position 4 / index 3 */
rudder = 0;
throttle = (((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f);
}
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
(act_outputs.output[0] - 1500.0f) / 600.0f,
(act_outputs.output[1] - 1500.0f) / 600.0f,
rudder,
throttle,
0.0f/*(act_outputs.output[2] - 1500.0f) / 600.0f*/,
(act_outputs.output[2] - 900.0f) / 1200.0f,
(act_outputs.output[4] - 1500.0f) / 600.0f,
(act_outputs.output[5] - 1500.0f) / 600.0f,
(act_outputs.output[6] - 1500.0f) / 600.0f,