From 155d3c7d367fced2830ff57031e346c2faa037c8 Mon Sep 17 00:00:00 2001 From: Pieter-Jan Dewitte Date: Fri, 18 Jun 2021 11:52:53 +0200 Subject: [PATCH] FW pos control: fix airspeed input constaining --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index d914585ebc..8093fd544b 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -254,7 +254,7 @@ FixedwingPositionControl::manual_control_setpoint_poll() * demanding up/down with the throttle stick, and move faster/break with the pitch one. */ _manual_control_setpoint_altitude = -(math::constrain(_manual_control_setpoint.z, 0.0f, 1.0f) * 2.f - 1.f); - _manual_control_setpoint_airspeed = math::constrain(_manual_control_setpoint.x, 0.0f, 1.0f) / 2.f + 0.5f; + _manual_control_setpoint_airspeed = math::constrain(_manual_control_setpoint.x, -1.0f, 1.0f) / 2.f + 0.5f; } }