diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-18 13:18:36 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-18 13:18:36 +0100 |
| commit | f41e5728fc132a7cd2764f166e36ca4d2f5909ea (patch) | |
| tree | 9de31c768177e9c7acd5398d725483df1072ad0e /apps/sensors/sensors.cpp | |
| parent | 4c2862f6c0ee17005f42f9b1501886886089109e (diff) | |
| download | px4-firmware-f41e5728fc132a7cd2764f166e36ca4d2f5909ea.tar.gz px4-firmware-f41e5728fc132a7cd2764f166e36ca4d2f5909ea.tar.bz2 px4-firmware-f41e5728fc132a7cd2764f166e36ca4d2f5909ea.zip | |
Correct demixing scaling for v-tail mixers
Diffstat (limited to 'apps/sensors/sensors.cpp')
| -rw-r--r-- | apps/sensors/sensors.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index b63bfb195..94dbd0b21 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -1001,7 +1001,7 @@ Sensors::ppm_poll() // XXX hardcoded for testing purposes, replace with inverted delta mixer from ROMFS /* 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 */ 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 */ |