control_allocator: generic motor configuration for standard vtols

This adds the pusher/puller to the standard motors and makes the axis configurable.
2026-10-19 19:23:33 +08:00 · 2022-02-25 08:30:58 +01:00
parent b2dc9ee710
commit 76d8d8cae6
14 changed files with 66 additions and 46 deletions
@@ -51,7 +51,7 @@ ActuatorEffectivenessMCTilt::getEffectivenessMatrix(Configuration &configuration
 	}

 	// MC motors
-	_mc_rotors.enableYawControl(!_tilts.hasYawControl());
+	_mc_rotors.enablePropellerTorque(!_tilts.hasYawControl());
 	const bool rotors_added_successfully = _mc_rotors.addActuators(configuration);

 	// Tilts