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ActuatorEffectivenssTailsitterVTOL: only enable MC yaw control if more than 3 rotors

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2021-12-24 20:06:13 -05:00
committed by Daniel Agar
parent 426aa76a59
commit 39d441317a
1 changed files with 2 additions and 1 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
+2 -1
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@@ -55,7 +55,8 @@ ActuatorEffectivenessTailsitterVTOL::getEffectivenessMatrix(Configuration &confi
// MC motors
configuration.selected_matrix = 0;
_mc_rotors.enableYawControl(true); //TODO enable yaw with elevons
_mc_rotors.enableYawControl(_mc_rotors.geometry().num_rotors > 3); // enable MC yaw control if more than 3 rotors
_mc_rotors.getEffectivenessMatrix(configuration, true);
// Control Surfaces