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VTOL standard - Remove pitch trim

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bresch
2018-01-29 09:32:51 -05:00
committed by Daniel Agar
parent 920cb7a1a1
commit aca30fc612
1 changed files with 3 additions and 3 deletions
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src/modules/vtol_att_control/standard.cpp
+3 -3
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@@ -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;