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Fix tailsitter control frames (#21573)

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JaeyoungLim 2023-05-10 22:33:53 +09:00 committed by GitHub
parent 951f89c8a8
commit 47e802ef92
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 2 additions and 2 deletions
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4
src/modules/vtol_att_control/tailsitter.cpp
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@ -288,7 +288,7 @@ void Tailsitter::fill_actuator_outputs()
/* allow differential thrust if enabled */
if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::YAW_BIT)) {
_torque_setpoint_0->xyz[0] = _vehicle_torque_setpoint_virtual_fw->xyz[2] * _param_vt_fw_difthr_s_y.get();
_torque_setpoint_0->xyz[0] = _vehicle_torque_setpoint_virtual_fw->xyz[0] * _param_vt_fw_difthr_s_y.get();
}
if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::PITCH_BIT)) {
@ -296,7 +296,7 @@ void Tailsitter::fill_actuator_outputs()
}
if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::ROLL_BIT)) {
_torque_setpoint_0->xyz[2] = -_vehicle_torque_setpoint_virtual_fw->xyz[0] * _param_vt_fw_difthr_s_r.get();
_torque_setpoint_0->xyz[2] = _vehicle_torque_setpoint_virtual_fw->xyz[2] * _param_vt_fw_difthr_s_r.get();
}
} else {