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mixer_multirotor: fix comment thrust_gain -> thrust_scale

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Added in 262d9c790bf0d3cd652.
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Beat Küng 2018-02-19 15:03:56 +01:00 committed by Roman Bapst
parent 0d9693347f
commit f21ab05f48
1 changed files with 2 additions and 2 deletions
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4
src/lib/mixer/mixer_multirotor.cpp
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@ -207,8 +207,8 @@ MultirotorMixer::mix(float *outputs, unsigned space)
// Otherwise, a scaler is computed to make the distance between the two extrema exacly 1.0 and the boost
// value is computed to maximize the roll-pitch control.
//
// Note: thrust boost is computed assuming thrust_gain==1 for all motors.
// On asymmetric platforms, some motors have thrust_gain<1,
// Note: thrust boost is computed assuming thrust_scale==1 for all motors.
// On asymmetric platforms, some motors have thrust_scale<1,
// which may result in motor saturation after thrust boost is applied
// TODO: revise the saturation/boosting strategy
if (delta_out_max <= 1.0f) {