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Rover control: Use roll sticks

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It is more intuitive to use the roll stick as lateral control input given that drones defined this category, plus this is how consumer car / rover radio controls have been working already.
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Lorenz Meier
2021-02-14 11:14:52 +01:00
parent 4c9b2c65b5
commit 4c5d2363d4
1 changed files with 1 additions and 1 deletions
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src/modules/rover_pos_control/RoverPositionControl.cpp
+1 -1
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@@ -136,7 +136,7 @@ RoverPositionControl::manual_control_setpoint_poll()
} else {
const float yaw_rate = math::radians(_param_gnd_man_y_max.get());
_att_sp.yaw_sp_move_rate = _manual_control_setpoint.r * yaw_rate;
_att_sp.yaw_sp_move_rate = _manual_control_setpoint.y * yaw_rate;
_manual_yaw_sp = wrap_pi(_manual_yaw_sp + _att_sp.yaw_sp_move_rate * dt);
}