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Fix tailsitter control frames (#21573)

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This commit is contained in:
JaeyoungLim
2023-05-10 22:33:53 +09:00
committed by GitHub
parent 951f89c8a8
commit 47e802ef92
1 changed files with 2 additions and 2 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+2 -2
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@@ -288,7 +288,7 @@ void Tailsitter::fill_actuator_outputs()
/* allow differential thrust if enabled */ /* allow differential thrust if enabled */
if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::YAW_BIT)) { if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::YAW_BIT)) {
_torque_setpoint_0->xyz[0] = _vehicle_torque_setpoint_virtual_fw->xyz[2] * _param_vt_fw_difthr_s_y.get(); _torque_setpoint_0->xyz[0] = _vehicle_torque_setpoint_virtual_fw->xyz[0] * _param_vt_fw_difthr_s_y.get();
} }
if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::PITCH_BIT)) { if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::PITCH_BIT)) {
@@ -296,7 +296,7 @@ void Tailsitter::fill_actuator_outputs()
} }
if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::ROLL_BIT)) { if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::ROLL_BIT)) {
_torque_setpoint_0->xyz[2] = -_vehicle_torque_setpoint_virtual_fw->xyz[0] * _param_vt_fw_difthr_s_r.get(); _torque_setpoint_0->xyz[2] = _vehicle_torque_setpoint_virtual_fw->xyz[2] * _param_vt_fw_difthr_s_r.get();
} }
} else { } else {