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use thrust scale parameter for vtol pusher support (#5207)

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This commit is contained in:
Andreas Daniel Antener
2016-08-03 23:41:01 +02:00
committed by Lorenz Meier
parent feccb9bfc1
commit f3c5c2c5a9
1 changed files with 2 additions and 1 deletions
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src/modules/vtol_att_control/standard.cpp
+2 -1
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@@ -361,7 +361,8 @@ void Standard::update_mc_state()
// desired roll angle in heading frame stays the same // desired roll angle in heading frame stays the same
float roll_new = -atan2f(body_z_sp(1), body_z_sp(2)); float roll_new = -atan2f(body_z_sp(1), body_z_sp(2));
_pusher_throttle = (sinf(-pitch_forward) - sinf(_params_standard.down_pitch_max)) * _v_att_sp->thrust; _pusher_throttle = (sinf(-pitch_forward) - sinf(_params_standard.down_pitch_max))
* _v_att_sp->thrust * _params_standard.forward_thrust_scale;
// limit desired pitch // limit desired pitch
float pitch_new = -_params_standard.down_pitch_max; float pitch_new = -_params_standard.down_pitch_max;