From 4c5d2363d480222a3f1999e755284b4751a2fc09 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 14 Feb 2021 11:14:52 +0100 Subject: [PATCH] Rover control: Use roll sticks It is more intuitive to use the roll stick as lateral control input given that drones defined this category, plus this is how consumer car / rover radio controls have been working already. --- src/modules/rover_pos_control/RoverPositionControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/rover_pos_control/RoverPositionControl.cpp b/src/modules/rover_pos_control/RoverPositionControl.cpp index eaa3e82b1d..a5cdda49ff 100644 --- a/src/modules/rover_pos_control/RoverPositionControl.cpp +++ b/src/modules/rover_pos_control/RoverPositionControl.cpp @@ -136,7 +136,7 @@ RoverPositionControl::manual_control_setpoint_poll() } else { const float yaw_rate = math::radians(_param_gnd_man_y_max.get()); - _att_sp.yaw_sp_move_rate = _manual_control_setpoint.r * yaw_rate; + _att_sp.yaw_sp_move_rate = _manual_control_setpoint.y * yaw_rate; _manual_yaw_sp = wrap_pi(_manual_yaw_sp + _att_sp.yaw_sp_move_rate * dt); }