fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Multirotor mixer: yaw limiting bug fixed

Browse Source
This commit is contained in:
Anton Babushkin 2014-05-15 14:26:32 +02:00
parent b9b84b08b7
commit bc3ca8db56
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/systemlib/mixer/mixer_multirotor.cpp
View File

@ -299,7 +299,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
/* limit yaw if it causes outputs clipping */
if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) {
yaw = out / _rotors[i].yaw_scale;
yaw = -out / _rotors[i].yaw_scale;
}
/* calculate min and max output values */