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VTOL att control: fix roll sign

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This commit is contained in:
Julien Lecoeur
2019-02-05 20:28:11 +01:00
committed by Daniel Agar
parent c5706f6283
commit e1caecc99a
3 changed files with 4 additions and 4 deletions
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4
src/modules/vtol_att_control/standard.cpp
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@@ -419,7 +419,7 @@ void Standard::fill_actuator_outputs()
if (_vtol_schedule.flight_mode != MC_MODE) {
// roll
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
// pitch
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
@@ -442,7 +442,7 @@ void Standard::fill_actuator_outputs()
} else {
// roll
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
// pitch
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =

2
src/modules/vtol_att_control/tailsitter.cpp
View File

@@ -302,7 +302,7 @@ void Tailsitter::fill_actuator_outputs()
} else {
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH];
}

2
src/modules/vtol_att_control/tiltrotor.cpp
View File

@@ -373,7 +373,7 @@ void Tiltrotor::fill_actuator_outputs()
} else {
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH];
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =