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tailsitter: Fix differential thrust in FW mode.

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Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com>
This commit is contained in:
Ricardo Marques
2021-01-12 11:32:26 +01:00
committed by Silvan Fuhrer
parent e4d223f098
commit 78c05275d2
1 changed files with 5 additions and 5 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+5 -5
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@@ -277,11 +277,6 @@ void Tailsitter::update_fw_state()
{ {
VtolType::update_fw_state(); VtolType::update_fw_state();
// allow fw yawrate control via multirotor roll actuation. this is useful for vehicles
// which don't have a rudder to coordinate turns
if (_params->diff_thrust == 1) {
_mc_roll_weight = 1.0f;
}
} }
/** /**
@@ -302,6 +297,11 @@ void Tailsitter::fill_actuator_outputs()
if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) { if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
mc_out[actuator_controls_s::INDEX_THROTTLE] = fw_in[actuator_controls_s::INDEX_THROTTLE]; mc_out[actuator_controls_s::INDEX_THROTTLE] = fw_in[actuator_controls_s::INDEX_THROTTLE];
/* allow differential thrust if enabled */
if (_params->diff_thrust == 1) {
mc_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_YAW] * _params->diff_thrust_scale;
}
} else { } else {
mc_out[actuator_controls_s::INDEX_THROTTLE] = mc_in[actuator_controls_s::INDEX_THROTTLE]; mc_out[actuator_controls_s::INDEX_THROTTLE] = mc_in[actuator_controls_s::INDEX_THROTTLE];
} }