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Good behaviour in simulator mode

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Disabled servo and level trim on simulator mode
This commit is contained in:
Sergey 2022-04-16 17:03:06 +03:00
parent 78c2060093
commit 3c9844edce
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GPG key ID: 4A7AC190CD92FE01
6 changed files with 8 additions and 14 deletions
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9
src/main/fc/fc_msp.c
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@ -3279,9 +3279,6 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
attitude.values.roll = sbufReadU16(src)-1800;
attitude.values.pitch = sbufReadU16(src)-1800;
attitude.values.yaw = sbufReadU16(src);
// posEstimator.est.pos.x = attitude.values.roll;
// posEstimator.est.pos.y = attitude.values.pitch;
// posEstimator.est.pos.z = gpsSol.llh.alt;
acc.accADCf[X] = (float)sbufReadU16(src) / 1000 - 32;// / GRAVITY_CMSS;
acc.accADCf[Y] = (float)sbufReadU16(src) / 1000 - 32;// / GRAVITY_CMSS;
@ -3296,12 +3293,6 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
DISABLE_STATE(GPS_FIX);
}
// sbufWriteU16(dst, motor[0]);
// sbufWriteU16(dst, servo[1]);
// sbufWriteU16(dst, servo[2]);
// sbufWriteU16(dst, servo[3]);
// sbufWriteU16(dst, servo[4]);
sbufWriteU16(dst, input[INPUT_STABILIZED_ROLL] + 500);
sbufWriteU16(dst, input[INPUT_STABILIZED_PITCH] + 500);
sbufWriteU16(dst, input[INPUT_STABILIZED_YAW] + 500);