From 1141079a3b50f18d30e80716fa8e1be26184fb9b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 25 Dec 2016 17:09:28 +0100 Subject: [PATCH] Fix Simulator: Set correct rotor count for standard VTOL The rotor count was incorrect which meant that control surfaces like elevons were scaled incorrectly. This was the main reason for really bad SITL performance --- src/modules/simulator/simulator_mavlink.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index 6045a816e9..f3343ca747 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -113,7 +113,8 @@ void Simulator::pack_actuator_message(mavlink_hil_actuator_controls_t &msg, unsi break; case MAV_TYPE_VTOL_RESERVED2: - n = 8; + // this is the standard VTOL / quad plane with 5 propellers + n = 5; break; default: