From 8400fa742c6ba17aa1db336900191398acef124b Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Mon, 9 Sep 2024 18:01:08 +0200
Subject: [PATCH] [Payload][HIL] Updated how we send deltaA for wing control
---
src/boards/Payload/HIL/HIL.cpp | 1 +
1 file changed, 1 insertion(+)
diff --git a/src/boards/Payload/HIL/HIL.cpp b/src/boards/Payload/HIL/HIL.cpp
index 560faeb89..9375f2e3b 100644
--- a/src/boards/Payload/HIL/HIL.cpp
+++ b/src/boards/Payload/HIL/HIL.cpp
@@ -271,6 +271,7 @@ ActuatorData PayloadHIL::updateActuatorData()
auto deltaA = actuators->getServoPosition(ServosList::PARAFOIL_LEFT_SERVO) -
actuators->getServoPosition(ServosList::PARAFOIL_RIGHT_SERVO);
+ deltaA /= 10; // Mapping to interval [-0.1, 0.1]
Eigen::Vector2f heading;
--
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