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MAVLink app: Further improvements on simulated RC scaling

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Lorenz Meier
2015-05-28 18:49:02 -07:00
parent 46920cfd27
commit d8aebc805f
1 changed files with 7 additions and 2 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+7 -2
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@@ -948,7 +948,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
* which makes the corner positions unreachable.
* scale yaw up and clip it to overcome this.
*/
rc.values[2] = man.r / 1.2f + 1500;
rc.values[2] = man.r / 1.1f + 1500;
if (rc.values[2] > 2000) {
rc.values[2] = 2000;
} else if (rc.values[2] < 1000) {
@@ -956,7 +956,12 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
}
/* throttle */
rc.values[3] = man.z + 1000;
rc.values[3] = man.z / 0.9f + 1000;
if (rc.values[3] > 2000) {
rc.values[3] = 2000;
} else if (rc.values[3] < 1000) {
rc.values[3] = 1000;
}
rc.values[4] = decode_switch_pos_n(man.buttons, 0) * 1000 + 1000;
rc.values[5] = decode_switch_pos_n(man.buttons, 1) * 1000 + 1000;