From fb022f40e50e34c5e37356247fc98bc3a5c88f4d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 10 Nov 2012 19:06:58 +0100 Subject: [PATCH] Fixed zero offset in HIL --- apps/mavlink/orb_listener.c | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index e214f435ea..f7bc32935d 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -447,25 +447,25 @@ l_actuator_outputs(struct listener *l) 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; + rudder = (act_outputs.output[2] - 1500.0f) / 1000.0f; + throttle = (act_outputs.output[3] - 1500.0f) / 1000.0f; } else { /* only three outputs, put throttle on position 4 / index 3 */ rudder = 0; - throttle = (act_outputs.output[2] - 1000.0f) / 1000.0f; + throttle = (act_outputs.output[2] - 1500.0f) / 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[0] - 1500.0f) / 1000.0f, + (act_outputs.output[1] - 1500.0f) / 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, - (act_outputs.output[7] - 1000.0f) / 1000.0f, + (act_outputs.output[4] - 1500.0f) / 1000.0f, + (act_outputs.output[5] - 1500.0f) / 1000.0f, + (act_outputs.output[6] - 1500.0f) / 1000.0f, + (act_outputs.output[7] - 1500.0f) / 1000.0f, mavlink_mode, 0); }