From 48be55dec887f53ca50f40ed70a35acd7524c1a6 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 21 Dec 2021 18:51:40 +0100 Subject: [PATCH] Tiltrotor: disable tilt/thrust compensation when dynamic allocation is enabled Signed-off-by: Silvan Fuhrer --- src/modules/vtol_att_control/tiltrotor.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp index 04dccd533c..5fd34e9ccb 100644 --- a/src/modules/vtol_att_control/tiltrotor.cpp +++ b/src/modules/vtol_att_control/tiltrotor.cpp @@ -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(); + } } }