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Tiltrotor: disable tilt/thrust compensation when dynamic allocation is enabled

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-12-24 20:06:13 -05:00
committed by Daniel Agar
parent 31d7328f4d
commit 48be55dec8
1 changed files with 5 additions and 1 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+5 -1
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@@ -287,7 +287,11 @@ void Tiltrotor::update_mc_state()
// normal operation
_tilt_control = VtolType::pusher_assist() + _params_tiltrotor.tilt_mc;
_mc_yaw_weight = 1.0f;
_v_att_sp->thrust_body[2] = Tiltrotor::thrust_compensation_for_tilt();
// do thrust compensation only for legacy (static) allocation
if (_params->ctrl_alloc != 1) {
_v_att_sp->thrust_body[2] = Tiltrotor::thrust_compensation_for_tilt();
}
}
}