From 4396e78d128d89192efa4f7a5d0963e8bf4f79cb Mon Sep 17 00:00:00 2001 From: sanderux Date: Sun, 13 Aug 2017 22:11:56 +0200 Subject: [PATCH] Allow negative thrust on reverse throttle --- src/modules/vtol_att_control/standard.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index fcef6e5dca..2a93860425 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -352,7 +352,7 @@ void Standard::update_transition_state() q_sp.copyTo(_v_att_sp->q_d); _v_att_sp->q_d_valid = true; - if (_params_handles_standard.reverse_output > FLT_EPSILON) { + if (_params_handles_standard.reverse_throttle > FLT_EPSILON || _params_handles_standard.reverse_throttle < 0.01f) { _pusher_throttle = _params_standard.reverse_throttle * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.front_trans_dur * 1000000.0f); _pusher_throttle = math::constrain(_pusher_throttle, -1.0f, _params_standard.reverse_throttle);