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Helicopter: More intuitive yaw direction configuration for the common cases

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Matthias Grob
2022-09-07 08:00:27 +02:00
committed by Beat Küng
parent f233f2167e
commit 115cf4d572
2 changed files with 9 additions and 5 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
+1 -2
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@@ -134,10 +134,9 @@ void ActuatorEffectivenessHelicopter::updateSetpoint(const matrix::Vector<float,
// actuator mapping
actuator_sp(0) = mainMotorEnaged() ? throttle : NAN;
actuator_sp(1) = control_sp(ControlAxis::YAW)
actuator_sp(1) = control_sp(ControlAxis::YAW) * _geometry.yaw_sign
+ fabsf(collective_pitch) * _geometry.yaw_collective_pitch_scale
+ throttle * _geometry.yaw_throttle_scale;
actuator_sp(1) *= _geometry.yaw_sign;
for (int i = 0; i < _geometry.num_swash_plate_servos; i++) {
actuator_sp(_first_swash_plate_servo_index + i) = collective_pitch