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Multirotor mixer: yaw limiting bug fixed

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Anton Babushkin
2014-05-15 14:26:32 +02:00
parent b9b84b08b7
commit bc3ca8db56
1 changed files with 1 additions and 1 deletions
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src/modules/systemlib/mixer/mixer_multirotor.cpp
+1 -1
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@@ -299,7 +299,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
/* limit yaw if it causes outputs clipping */ /* limit yaw if it causes outputs clipping */
if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) { 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 */ /* calculate min and max output values */