From 1a4ce136f383b5c72bf594cf0dfae5031f8b1315 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 19 Aug 2021 18:00:53 +0200 Subject: [PATCH] Tiltrotor: add hover tilt offset to pusher assist tilt Signed-off-by: Silvan Fuhrer --- src/modules/vtol_att_control/tiltrotor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp index a0c607fd08..77b7daecfb 100644 --- a/src/modules/vtol_att_control/tiltrotor.cpp +++ b/src/modules/vtol_att_control/tiltrotor.cpp @@ -270,7 +270,7 @@ void Tiltrotor::update_mc_state() } else { // normal operation - _tilt_control = VtolType::pusher_assist(); + _tilt_control = VtolType::pusher_assist() + _params_tiltrotor.tilt_mc; _mc_yaw_weight = 1.0f; _v_att_sp->thrust_body[2] = Tiltrotor::thrust_compensation_for_tilt(); }