From 47e802ef92cba501c8473bce7ecd44eb4bb683c0 Mon Sep 17 00:00:00 2001 From: JaeyoungLim Date: Wed, 10 May 2023 22:33:53 +0900 Subject: [PATCH] Fix tailsitter control frames (#21573) --- src/modules/vtol_att_control/tailsitter.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp index 7c19d6cccb..df62b63ae1 100644 --- a/src/modules/vtol_att_control/tailsitter.cpp +++ b/src/modules/vtol_att_control/tailsitter.cpp @@ -288,7 +288,7 @@ void Tailsitter::fill_actuator_outputs() /* allow differential thrust if enabled */ if (_param_vt_fw_difthr_en.get() & static_cast(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(VtFwDifthrEnBits::PITCH_BIT)) { @@ -296,7 +296,7 @@ void Tailsitter::fill_actuator_outputs() } if (_param_vt_fw_difthr_en.get() & static_cast(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 {