From aca30fc6128f8591b719c3bc9ec84c26173b50b8 Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 5 Sep 2017 12:31:40 +0200 Subject: [PATCH] VTOL standard - Remove pitch trim --- src/modules/vtol_att_control/standard.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index 3ae02ae227..0f90b1667c 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -498,7 +498,7 @@ void Standard::fill_actuator_outputs() // pitch _actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = - _actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim; + _actuators_fw_in->control[actuator_controls_s::INDEX_PITCH]; // yaw _actuators_out_1->control[actuator_controls_s::INDEX_YAW] = _actuators_fw_in->control[actuator_controls_s::INDEX_YAW]; @@ -510,7 +510,7 @@ void Standard::fill_actuator_outputs() if (_params->elevons_mc_lock) { // zero outputs when inactive _actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = 0.0f; - _actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _params->fw_pitch_trim; + _actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = 0.0f; _actuators_out_1->control[actuator_controls_s::INDEX_YAW] = 0.0f; _actuators_out_1->control[actuator_controls_s::INDEX_AIRBRAKES] = 0.0f; @@ -521,7 +521,7 @@ void Standard::fill_actuator_outputs() // pitch _actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = - _actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim; + _actuators_fw_in->control[actuator_controls_s::INDEX_PITCH]; _actuators_out_1->control[actuator_controls_s::INDEX_YAW] = 0.0f; _actuators_out_1->control[actuator_controls_s::INDEX_AIRBRAKES] = 0.0f;