From bc3ca8db5646cf2a2e235cf7ca3bd62335e062c2 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 15 May 2014 14:26:32 +0200 Subject: [PATCH] Multirotor mixer: yaw limiting bug fixed --- src/modules/systemlib/mixer/mixer_multirotor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 672784f468..8568f9e60f 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -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 */