From e84d0f41fa17e3e83ff3d58861ee572570604c19 Mon Sep 17 00:00:00 2001 From: px4dev Date: Thu, 16 Aug 2012 00:10:58 -0700 Subject: [PATCH] fix a fatal one-character typo in the multirotor output scaling logic --- apps/systemlib/mixer/mixer_multirotor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp index 990c067fdf..60b71c60a6 100644 --- a/apps/systemlib/mixer/mixer_multirotor.cpp +++ b/apps/systemlib/mixer/mixer_multirotor.cpp @@ -179,7 +179,7 @@ MultirotorMixer::mix(float *outputs, unsigned space) fixup_scale = 2.0f; } for (unsigned i = 0; i < _rotor_count; i++) - outputs[i] *= -1.0 + (outputs[i] * fixup_scale); + outputs[i] = -1.0 + (outputs[i] * fixup_scale); /* ensure outputs are out of the deadband */ for (unsigned i = 0; i < _rotor_count; i++)