From cdd7c57dedbe5f298f04eee2cb74d5e4a81e37ba Mon Sep 17 00:00:00 2001 From: bresch Date: Mon, 29 May 2017 16:50:34 +0200 Subject: [PATCH] Multicopter mixer: When saturating, compute the new yaw value based on the reduced thrust value --- 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 ba9e15c102..8c4b8ded91 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -334,7 +334,7 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg) } else { yaw = (1.0f - ((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) * - roll_pitch_scale + thrust + boost)) / _rotors[i].yaw_scale; + roll_pitch_scale + (thrust - thrust_reduction) + boost)) / _rotors[i].yaw_scale; } } }