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Cleaned up HIL on FMU / IO combo

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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/sensors/sensors.cpp
+2 -2
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@@ -1001,9 +1001,9 @@ Sensors::ppm_poll()
// XXX hardcoded for testing purposes, replace with inverted delta mixer from ROMFS
/* roll input - mixed roll and pitch channels */
manual_control.roll = -0.5f * (_rc.chan[_rc.function[ROLL]].scaled - _rc.chan[_rc.function[PITCH]].scaled);
manual_control.roll = 0.5f * (_rc.chan[_rc.function[ROLL]].scaled - _rc.chan[_rc.function[PITCH]].scaled);
/* pitch input - mixed roll and pitch channels */
manual_control.pitch = -0.5f * (_rc.chan[_rc.function[ROLL]].scaled + _rc.chan[_rc.function[PITCH]].scaled);
manual_control.pitch = 0.5f * (_rc.chan[_rc.function[ROLL]].scaled + _rc.chan[_rc.function[PITCH]].scaled);
/* yaw input - stick right is positive and positive rotation */
manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled;
/* throttle input */