From 7236ef2d171f15c37fa35aeafccb2dbf6fb2a5b8 Mon Sep 17 00:00:00 2001 From: bresch Date: Mon, 25 Nov 2024 15:31:30 +0100 Subject: [PATCH] SIH-FW: fix aileron and elevator signs This broken when changing from mixer files to the control allocation module. --- src/modules/simulation/simulator_sih/sih.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/simulation/simulator_sih/sih.cpp b/src/modules/simulation/simulator_sih/sih.cpp index aa1de1e5e9..3210c33ed0 100644 --- a/src/modules/simulation/simulator_sih/sih.cpp +++ b/src/modules/simulation/simulator_sih/sih.cpp @@ -327,9 +327,9 @@ void Sih::generate_fw_aerodynamics() { _v_B = _C_IB.transpose() * _v_I; // velocity in body frame [m/s] float altitude = _H0 - _p_I(2); - _wing_l.update_aero(_v_B, _w_B, altitude, _u[0]*FLAP_MAX); - _wing_r.update_aero(_v_B, _w_B, altitude, -_u[0]*FLAP_MAX); - _tailplane.update_aero(_v_B, _w_B, altitude, _u[1]*FLAP_MAX, _T_MAX * _u[3]); + _wing_l.update_aero(_v_B, _w_B, altitude, -_u[0]*FLAP_MAX); + _wing_r.update_aero(_v_B, _w_B, altitude, _u[0]*FLAP_MAX); + _tailplane.update_aero(_v_B, _w_B, altitude, -_u[1]*FLAP_MAX, _T_MAX * _u[3]); _fin.update_aero(_v_B, _w_B, altitude, _u[2]*FLAP_MAX, _T_MAX * _u[3]); _fuselage.update_aero(_v_B, _w_B, altitude);