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invert pitch trim parameter

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tumbili
2015-06-10 17:06:42 +02:00
parent 8a3d3f61e6
commit 45cd05b57a
1 changed files with 5 additions and 1 deletions
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src/modules/commander/rc_calibration.cpp
+5 -1
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@@ -71,7 +71,11 @@ int do_trim_calibration(int mavlink_fd)
/* set parameters */ /* set parameters */
float p = sp.y; float p = sp.y;
int p1r = param_set(param_find("TRIM_ROLL"), &p); int p1r = param_set(param_find("TRIM_ROLL"), &p);
p = sp.x; /*
we explicitly swap sign here because the trim is added to the actuator controls
which are moving in an inverse sense to manual pitch inputs
*/
p = -sp.x;
int p2r = param_set(param_find("TRIM_PITCH"), &p); int p2r = param_set(param_find("TRIM_PITCH"), &p);
p = sp.r; p = sp.r;
int p3r = param_set(param_find("TRIM_YAW"), &p); int p3r = param_set(param_find("TRIM_YAW"), &p);