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AP_MotorsMatrix: roll, pitch, yaw input in -1 to +1 range

This commit is contained in:
Leonard Hall 2016-01-22 11:09:18 +09:00 committed by Randy Mackay
parent ae4e495698
commit 027284fba0

View File

@ -176,9 +176,9 @@ void AP_MotorsMatrix::output_armed_stabilizing()
float throttle_thrust_hover = get_hover_throttle_as_high_end_pct(); // throttle hover thrust value, 0.0 - 1.0
// apply voltage and air pressure compensation
roll_thrust = get_roll_thrust() * get_compensation_gain();
pitch_thrust = get_pitch_thrust() * get_compensation_gain();
yaw_thrust = get_yaw_thrust() * get_compensation_gain();
roll_thrust = _roll_in * get_compensation_gain();
pitch_thrust = _pitch_in * get_compensation_gain();
yaw_thrust = _yaw_in * get_compensation_gain();
throttle_thrust = get_throttle() * get_compensation_gain();
// sanity check throttle is above zero and below current limited throttle