From 7c425ae76bddb10b8520fa06c58efb915b52da36 Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Mon, 18 Nov 2013 21:24:47 +0100 Subject: [PATCH] [rotorcraft] fix RC quaternion setpoint reading orientation vector angles should not be dividied by two, thats handled correctly in FLOAT_QUAT_OF_ORIENTATION_VECT --- .../stabilization/stabilization_attitude_rc_setpoint.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c index 0affbcd21b..8d32ba1344 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c @@ -223,8 +223,8 @@ void stabilization_attitude_read_rc_setpoint_eulers_f(struct FloatEulers *sp, bo void stabilization_attitude_read_rc_roll_pitch_quat_f(struct FloatQuat* q) { /* orientation vector describing simultaneous rotation of roll/pitch */ struct FloatVect3 ov; - ov.x = radio_control.values[RADIO_ROLL] * STABILIZATION_ATTITUDE_SP_MAX_PHI / MAX_PPRZ / 2; - ov.y = radio_control.values[RADIO_PITCH] * STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ / 2; + ov.x = radio_control.values[RADIO_ROLL] * STABILIZATION_ATTITUDE_SP_MAX_PHI / MAX_PPRZ; + ov.y = radio_control.values[RADIO_PITCH] * STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ; ov.z = 0.0; /* quaternion from that orientation vector */