[uavcan] Fix unitless actuator range conversion

Input [1000us, 2000us] -> [-1, 1] output.
2026-05-25 01:17:36 +08:00 · 2025-05-28 11:17:11 +02:00
1 changed files with 1 additions and 1 deletions
@@ -53,7 +53,7 @@ UavcanServoController::update_outputs(bool stop_motors, uint16_t outputs[MAX_ACT
 		uavcan::equipment::actuator::Command cmd;
 		cmd.actuator_id = i;
 		cmd.command_type = uavcan::equipment::actuator::Command::COMMAND_TYPE_UNITLESS;
-		cmd.command_value = (float)outputs[i] / 500.f - 1.f; // [-1, 1]
+		cmd.command_value = (float)outputs[i] / 500.f - 3.f; // [1000, 2000] -> [-1, 1]

 		msg.commands.push_back(cmd);
 	}