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

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-12-24 20:06:13 -05:00
committed by Daniel Agar
parent 1ad66e606b
commit 31d7328f4d
1 changed files with 1 additions and 1 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+1 -1
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@@ -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_ROLL] = fw_in[actuator_controls_s::INDEX_ROLL];
fw_out[actuator_controls_s::INDEX_PITCH] = fw_in[actuator_controls_s::INDEX_PITCH]; 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[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; _actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;