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Revert "rover_pos_control: thrust normalization for joystick input (#20885)"

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This reverts commit 22f7d913bd1f6f9c0500d22435d9148bc5e0fab5.
This commit is contained in:
alexklimaj 2023-03-08 18:47:11 -07:00 committed by Ramon Roche
parent ecd1e9f730
commit 89b238f094
1 changed files with 2 additions and 2 deletions
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src/modules/rover_pos_control/RoverPositionControl.cpp
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@ -138,7 +138,7 @@ RoverPositionControl::manual_control_setpoint_poll()
}
_att_sp.yaw_body = _manual_yaw_sp;
_att_sp.thrust_body[0] = (_manual_control_setpoint.throttle + 1.f) * .5f;
_att_sp.thrust_body[0] = _manual_control_setpoint.throttle;
Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
q.copyTo(_att_sp.q_d);
@ -152,7 +152,7 @@ RoverPositionControl::manual_control_setpoint_poll()
// Set heading from the manual roll input channel
_yaw_control = _manual_control_setpoint.roll; // Nominally yaw: _manual_control_setpoint.yaw;
// Set throttle from the manual throttle channel
_throttle_control = (_manual_control_setpoint.throttle + 1.f) * .5f;
_throttle_control = _manual_control_setpoint.throttle;
_reset_yaw_sp = true;
}