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vtol backtransition: removed downscaling of fw controls during the backtransition

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst 2024-09-05 17:00:18 +03:00 committed by Roman Bapst
parent 3d36c8519d
commit 1337fca4d0
1 changed files with 3 additions and 3 deletions
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6
src/modules/vtol_att_control/standard.cpp
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@ -334,9 +334,9 @@ void Standard::fill_actuator_outputs()
_thrust_setpoint_0->xyz[2] = _vehicle_thrust_setpoint_virtual_mc->xyz[2] * _mc_throttle_weight;
// FW actuators
_torque_setpoint_1->xyz[0] = _vehicle_torque_setpoint_virtual_fw->xyz[0] * (1.f - _mc_roll_weight);
_torque_setpoint_1->xyz[1] = _vehicle_torque_setpoint_virtual_fw->xyz[1] * (1.f - _mc_pitch_weight);
_torque_setpoint_1->xyz[2] = _vehicle_torque_setpoint_virtual_fw->xyz[2] * (1.f - _mc_yaw_weight);
_torque_setpoint_1->xyz[0] = _vehicle_torque_setpoint_virtual_fw->xyz[0];
_torque_setpoint_1->xyz[1] = _vehicle_torque_setpoint_virtual_fw->xyz[1];
_torque_setpoint_1->xyz[2] = _vehicle_torque_setpoint_virtual_fw->xyz[2];
_thrust_setpoint_0->xyz[0] = _pusher_throttle;
break;