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MulticopterRateControl: fix thrust sign for acro

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Regression from fbc109436f00a815eb6130c6d177086e6b1ae80a
This commit is contained in:
Beat Küng 2022-05-24 13:33:48 +02:00 committed by Matthias Grob
parent 44be415e0e
commit 016b8aeb35
1 changed files with 1 additions and 1 deletions
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2
src/modules/mc_rate_control/MulticopterRateControl.cpp
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@ -192,7 +192,7 @@ MulticopterRateControl::Run()
vehicle_rates_setpoint.yaw = _rates_setpoint(2);
vehicle_rates_setpoint.thrust_body[0] = 0.0f;
vehicle_rates_setpoint.thrust_body[1] = 0.0f;
vehicle_rates_setpoint.thrust_body[2] = _thrust_setpoint;
vehicle_rates_setpoint.thrust_body[2] = -_thrust_setpoint;
vehicle_rates_setpoint.timestamp = hrt_absolute_time();
_vehicle_rates_setpoint_pub.publish(vehicle_rates_setpoint);