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simulator: remove strange disarmed PWM

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Before that we would send -0.1 instead of just 0.0.

First proposed by @lovettchris.
This commit is contained in:
Julian Oes
2020-02-19 17:54:02 +01:00
parent a006d82abf
commit e46635b1de
1 changed files with 2 additions and 2 deletions
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src/modules/simulator/simulator_mavlink.cpp
+2 -2
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@@ -127,7 +127,7 @@ mavlink_hil_actuator_controls_t Simulator::actuator_controls_from_outputs()
}
for (unsigned i = 0; i < 16; i++) {
if (_actuator_outputs.output[i] > PWM_DEFAULT_MIN / 2) {
if (armed) {
if (i < n) {
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to 0..1 for rotors */
msg.controls[i] = (_actuator_outputs.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
@@ -147,7 +147,7 @@ mavlink_hil_actuator_controls_t Simulator::actuator_controls_from_outputs()
/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
for (unsigned i = 0; i < 16; i++) {
if (_actuator_outputs.output[i] > PWM_DEFAULT_MIN / 2) {
if (armed) {
if (i != 4) {
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for normal channels */
msg.controls[i] = (_actuator_outputs.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);