Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Motors: output mask: do not apply copter sin params and epxo

This commit is contained in:
Iampete1 2020-11-03 18:58:57 +00:00 committed by Andrew Tridgell
parent 814aa4e5ec
commit 0c2037438b
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -761,7 +761,7 @@ void AP_MotorsMulticopter::output_motor_mask(float thrust, uint8_t mask, float r
apples to either tilted motors or tailsitters
*/
float diff_thrust = get_roll_factor(i) * rudder_dt * 0.5f;
set_actuator_with_slew(_actuator[i], thrust_to_actuator(thrust + diff_thrust));
set_actuator_with_slew(_actuator[i], thrust + diff_thrust);
int16_t pwm_output = pwm_min + pwm_range * _actuator[i];
rc_write(i, pwm_output);
} else {