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Multicopter mixer: When saturating, compute the new yaw value based on

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the reduced thrust value
This commit is contained in:
bresch
2017-05-30 12:01:42 +07:00
committed by Lorenz Meier
parent a0ee07e357
commit cdd7c57ded
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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@@ -334,7 +334,7 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
} else { } else {
yaw = (1.0f - ((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) * 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;
} }
} }
} }