fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-14 18:57:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tailsitter: invert roll (make it NED-correct) for filling vehicle_torque_setpoint

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-12-21 18:39:42 +01:00
committed by Daniel Agar
parent 1ad66e606b
commit 31d7328f4d
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/tailsitter.cpp
+1 -1
View File
@@ -369,7 +369,7 @@ void Tailsitter::fill_actuator_outputs()
fw_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_ROLL];
fw_out[actuator_controls_s::INDEX_PITCH] = fw_in[actuator_controls_s::INDEX_PITCH];
_torque_setpoint_1->xyz[1] = fw_in[actuator_controls_s::INDEX_PITCH];
_torque_setpoint_1->xyz[2] = fw_in[actuator_controls_s::INDEX_ROLL];
_torque_setpoint_1->xyz[2] = -fw_in[actuator_controls_s::INDEX_ROLL];
}
_actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;