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Plane interface: Fix motor scaling in simulator

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Lorenz Meier
2017-02-13 21:33:01 +01:00
parent 7f4601a50f
commit dfd02d8372
1 changed files with 1 additions and 1 deletions
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2
src/modules/simulator/simulator_mavlink.cpp
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@@ -150,7 +150,7 @@ void Simulator::pack_actuator_message(mavlink_hil_actuator_controls_t &msg, unsi
for (unsigned i = 0; i < 16; i++) { for (unsigned i = 0; i < 16; i++) {
if (_actuators[index].output[i] > PWM_DEFAULT_MIN / 2) { if (_actuators[index].output[i] > PWM_DEFAULT_MIN / 2) {
if (i != 3) { if (i != 4) {
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for normal channels */ /* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for normal channels */
msg.controls[i] = (_actuators[index].output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2); msg.controls[i] = (_actuators[index].output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);