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AP_Motors: fix regression for tiltrotors

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Mark Whitehorn 2019-01-28 13:42:11 -07:00 committed by Randy Mackay
parent 134e7fb81c
commit 35928a8d05
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -707,7 +707,9 @@ void AP_MotorsMulticopter::output_motor_mask(float thrust, uint8_t mask, float r
*/
float diff_thrust = get_roll_factor(i) * rudder_dt * 0.5f;
set_actuator_with_slew(_actuator[i], thrust_to_actuator(thrust + diff_thrust));
rc_write(i, output_to_pwm(_actuator[i]));
int16_t pwm_output = get_pwm_output_min() +
(get_pwm_output_max()-get_pwm_output_min()) * _actuator[i];
rc_write(i, pwm_output);
} else {
rc_write(i, get_pwm_output_min());
}