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SIH-FW: fix aileron and elevator signs

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This broken when changing from mixer files to the control allocation module.
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bresch
2024-11-27 11:14:56 -05:00
committed by Daniel Agar
parent 1dad25b763
commit 7236ef2d17
1 changed files with 3 additions and 3 deletions
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src/modules/simulation/simulator_sih/sih.cpp
+3 -3
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@@ -327,9 +327,9 @@ void Sih::generate_fw_aerodynamics()
{ {
_v_B = _C_IB.transpose() * _v_I; // velocity in body frame [m/s] _v_B = _C_IB.transpose() * _v_I; // velocity in body frame [m/s]
float altitude = _H0 - _p_I(2); float altitude = _H0 - _p_I(2);
_wing_l.update_aero(_v_B, _w_B, altitude, _u[0]*FLAP_MAX); _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); _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]); _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]); _fin.update_aero(_v_B, _w_B, altitude, _u[2]*FLAP_MAX, _T_MAX * _u[3]);
_fuselage.update_aero(_v_B, _w_B, altitude); _fuselage.update_aero(_v_B, _w_B, altitude);