From 39d441317a0a7ad0e5f3690401829531f8114d09 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 14 Dec 2021 11:32:25 +0100 Subject: [PATCH] ActuatorEffectivenssTailsitterVTOL: only enable MC yaw control if more than 3 rotors Signed-off-by: Silvan Fuhrer --- .../ActuatorEffectivenessTailsitterVTOL.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp index f6dc25d1c7..94150ec4a1 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp @@ -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