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Helicopter mixer scale throttle to -1 .. +1

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Not sure why it worked for me without this change. I cannot test it myself. Should fix https://github.com/PX4/Firmware/issues/8013
This commit is contained in:
Bart Slinger
2017-10-07 10:59:18 +02:00
committed by Lorenz Meier
parent 353caec1af
commit adba797323
1 changed files with 1 additions and 1 deletions
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src/modules/systemlib/mixer/mixer_helicopter.cpp
+1 -1
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@@ -252,7 +252,7 @@ HelicopterMixer::mix(float *outputs, unsigned space)
/* Local throttle curve gradient and offset */
float tg = (_mixer_info.throttle_curve[idx + 1] - _mixer_info.throttle_curve[idx]) / 0.25f;
float to = (_mixer_info.throttle_curve[idx]) - (tg * idx * 0.25f);
float throttle = constrain((tg * thrust_cmd + to), 0.0f, 1.0f);
float throttle = constrain(2.0f * (tg * thrust_cmd + to) - 1.0f, -1.0f, 1.0f);
/* Local pitch curve gradient and offset */
float pg = (_mixer_info.pitch_curve[idx + 1] - _mixer_info.pitch_curve[idx]) / 0.25f;