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Coax: Yaw fix

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Was using _rc_yaw servo_out instead of pwm_out to modify motors.
Corrected and less touchy in Yaw
This commit is contained in:
Dan Neault 2014-02-08 16:23:08 -05:00 committed by Randy Mackay
parent fce464597a
commit 262d384025
1 changed files with 4 additions and 3 deletions
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7
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -159,8 +159,9 @@ void AP_MotorsCoax::output_armed()
// Throttle is 0 to 1000 only
_rc_throttle->servo_out = constrain_int16(_rc_throttle->servo_out, 0, _max_throttle);
// capture desired throttle from receiver
// capture desired throttle and yaw from receiver
_rc_throttle->calc_pwm();
_rc_yaw->calc_pwm();
// if we are not sending a throttle output, we cut the motors
if(_rc_throttle->servo_out == 0) {
@ -176,8 +177,8 @@ void AP_MotorsCoax::output_armed()
}else{
// motors
motor_out[AP_MOTORS_MOT_3] = _rev_yaw*_rc_yaw->servo_out + _rc_throttle->radio_out;
motor_out[AP_MOTORS_MOT_4] = -_rev_yaw*_rc_yaw->servo_out +_rc_throttle->radio_out;
motor_out[AP_MOTORS_MOT_3] = _rev_yaw*_rc_yaw->pwm_out + _rc_throttle->radio_out;
motor_out[AP_MOTORS_MOT_4] = -_rev_yaw*_rc_yaw->pwm_out +_rc_throttle->radio_out;
// front
_servo1->servo_out = _rev_roll*_rc_roll->servo_out;
// right