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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-15 14:26:32 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-15 14:26:32 +0200 |
| commit | bc3ca8db5646cf2a2e235cf7ca3bd62335e062c2 (patch) | |
| tree | 02c4fe1887055b6bc8b4ef860dc6550b389d4319 /src/modules/systemlib | |
| parent | b9b84b08b79dd6661905cfd5d4fa8578ea392bec (diff) | |
| download | px4-firmware-bc3ca8db5646cf2a2e235cf7ca3bd62335e062c2.tar.gz px4-firmware-bc3ca8db5646cf2a2e235cf7ca3bd62335e062c2.tar.bz2 px4-firmware-bc3ca8db5646cf2a2e235cf7ca3bd62335e062c2.zip | |
Multirotor mixer: yaw limiting bug fixed
Diffstat (limited to 'src/modules/systemlib')
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 672784f46..8568f9e60 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -299,7 +299,7 @@ MultirotorMixer::mix(float *outputs, unsigned space) /* limit yaw if it causes outputs clipping */ if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) { - yaw = out / _rotors[i].yaw_scale; + yaw = -out / _rotors[i].yaw_scale; } /* calculate min and max output values */ |