From b5c3bc7b0f65c2a16ead6c83985a395882a1a14f Mon Sep 17 00:00:00 2001 From: sanderux Date: Fri, 25 Aug 2017 00:09:29 +0200 Subject: [PATCH] Remove thrust_sp from pusher assist calculation --- src/modules/vtol_att_control/standard.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index aa3b2b47e1..a0b20b76b3 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -454,7 +454,7 @@ void Standard::update_mc_state() float roll_new = -asinf(body_z_sp(1)); _pusher_throttle = (sinf(-pitch_forward) - sinf(_params_standard.down_pitch_max)) - * _v_att_sp->thrust * _params_standard.forward_thrust_scale; + * _params_standard.forward_thrust_scale; // return the vehicle to level position float pitch_new = 0.0f;