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AP_Motors: Heli: Fix SWSH logging for reversed collectives

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MattKear 2024-06-04 00:10:44 +01:00 committed by Bill Geyer
parent 5c76e77c11
commit 3a311a9d69
1 changed files with 6 additions and 5 deletions
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11
libraries/AP_Motors/AP_MotorsHeli_Swash.cpp
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@ -211,16 +211,17 @@ void AP_MotorsHeli_Swash::add_servo_raw(uint8_t num, float roll, float pitch, fl
// calculates servo output
void AP_MotorsHeli_Swash::calculate(float roll, float pitch, float collective)
{
// Store inputs for logging, store col before col reversal to ensure logging comes out with the correct sign (+/-)
_roll_input = roll;
_pitch_input = pitch;
_collective_input_scaled = collective;
// Collective control direction. Swash moves up for negative collective pitch, down for positive collective pitch
if (_collective_direction == COLLECTIVE_DIRECTION_REVERSED){
collective = 1 - collective;
}
// Store inputs for logging
_roll_input = roll;
_pitch_input = pitch;
_collective_input_scaled = collective;
for (uint8_t i = 0; i < _max_num_servos; i++) {
if (!_enabled[i]) {
// This servo is not enabled