fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 17:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Correct demixing scaling for v-tail mixers

Browse Source
This commit is contained in:
Lorenz Meier
2012-12-18 13:18:36 +01:00
parent 4c2862f6c0
commit f41e5728fc
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/sensors/sensors.cpp
+1 -1
View File
@@ -1001,7 +1001,7 @@ Sensors::ppm_poll()
// XXX hardcoded for testing purposes, replace with inverted delta mixer from ROMFS // XXX hardcoded for testing purposes, replace with inverted delta mixer from ROMFS
/* roll input - mixed roll and pitch channels */ /* roll input - mixed roll and pitch channels */
manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled - _rc.chan[_rc.function[PITCH]].scaled; manual_control.roll = -0.5f * (_rc.chan[_rc.function[ROLL]].scaled - _rc.chan[_rc.function[PITCH]].scaled);
/* pitch input - mixed roll and pitch channels */ /* pitch input - mixed roll and pitch channels */
manual_control.pitch = -0.5f * (_rc.chan[_rc.function[ROLL]].scaled + _rc.chan[_rc.function[PITCH]].scaled); manual_control.pitch = -0.5f * (_rc.chan[_rc.function[ROLL]].scaled + _rc.chan[_rc.function[PITCH]].scaled);
/* yaw input - stick right is positive and positive rotation */ /* yaw input - stick right is positive and positive rotation */