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Merge branch 'master' of https://github.com/PX4/Firmware into fw_control

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This commit is contained in:
Thomas Gubler 2012-11-10 19:05:13 +01:00
commit d3693ea993
1 changed files with 16 additions and 2 deletions
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18
apps/mavlink/orb_listener.c
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@ -441,13 +441,27 @@ l_actuator_outputs(struct listener *l)
uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
float rudder, throttle;
// 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] - 1000.0f) / 1000.0f;
throttle = (act_outputs.output[3] - 1000.0f) / 1000.0f;
} else {
/* only three outputs, put throttle on position 4 / index 3 */
rudder = 0;
throttle = (act_outputs.output[2] - 1000.0f) / 1000.0f;
}
/* HIL message as per MAVLink spec */
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
(act_outputs.output[0] - 1000.0f) / 1000.0f,
(act_outputs.output[1] - 1000.0f) / 1000.0f,
(act_outputs.output[2] - 1000.0f) / 1000.0f,
(act_outputs.output[3] - 1000.0f) / 1000.0f,
rudder,
throttle,
(act_outputs.output[4] - 1000.0f) / 1000.0f,
(act_outputs.output[5] - 1000.0f) / 1000.0f,
(act_outputs.output[6] - 1000.0f) / 1000.0f,