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MulticopterRateControl: fix thrust sign for acro

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Regression from fbc109436f
This commit is contained in:
Beat Küng
2022-05-24 15:03:17 +02:00
committed by Matthias Grob
parent 44be415e0e
commit 016b8aeb35
1 changed files with 1 additions and 1 deletions
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src/modules/mc_rate_control/MulticopterRateControl.cpp
+1 -1
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@@ -192,7 +192,7 @@ MulticopterRateControl::Run()
vehicle_rates_setpoint.yaw = _rates_setpoint(2); vehicle_rates_setpoint.yaw = _rates_setpoint(2);
vehicle_rates_setpoint.thrust_body[0] = 0.0f; vehicle_rates_setpoint.thrust_body[0] = 0.0f;
vehicle_rates_setpoint.thrust_body[1] = 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.timestamp = hrt_absolute_time();
_vehicle_rates_setpoint_pub.publish(vehicle_rates_setpoint); _vehicle_rates_setpoint_pub.publish(vehicle_rates_setpoint);