fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-15 13:00:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

ControlAllocator: fix confusion between thrust and torque

Browse Source
This commit is contained in:
Balduin
2026-01-26 11:51:21 +01:00
parent be95f00643
commit 361770cbe8
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/ControlAllocator.cpp
+1 -1
View File
@@ -433,7 +433,7 @@ ControlAllocator::Run()
}
if (_vehicle_thrust_setpoint1_sub.copy(&vehicle_thrust_setpoint)) {
const Vector3f thrust_sp = battery_scale_torque_setpoint(vehicle_torque_setpoint, _battery_scaling_modes[1], _battery_scale);
const Vector3f thrust_sp = battery_scale_thrust_setpoint(vehicle_thrust_setpoint, _battery_scaling_modes[1], _battery_scale);
c[1](3) = thrust_sp(0);
c[1](4) = thrust_sp(1);
c[1](5) = thrust_sp(2);