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

This commit is contained in:
Leonard Hall 2016-01-22 11:09:32 +09:00 committed by Randy Mackay
parent 027284fba0
commit 4d208fcd47
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -186,9 +186,9 @@ void AP_MotorsTri::output_armed_stabilizing()
float throttle_thrust_hover = get_hover_throttle_as_high_end_pct(); // throttle hover thrust value, 0.0 - 1.0 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 // apply voltage and air pressure compensation
roll_thrust = get_roll_thrust() * get_compensation_gain(); roll_thrust = _roll_in * get_compensation_gain();
pitch_thrust = get_pitch_thrust() * get_compensation_gain(); pitch_thrust = _pitch_in * get_compensation_gain();
yaw_thrust = get_yaw_thrust() * get_compensation_gain()*sinf(_pivot_angle_max); // we scale this so a thrust request of 1.0f will ask for full servo deflection at full rear throttle yaw_thrust = _yaw_in * get_compensation_gain()*sinf(_pivot_angle_max); // we scale this so a thrust request of 1.0f will ask for full servo deflection at full rear throttle
throttle_thrust = get_throttle() * get_compensation_gain(); throttle_thrust = get_throttle() * get_compensation_gain();
float pivot_angle_request_max = asin(yaw_thrust); float pivot_angle_request_max = asin(yaw_thrust);
float pivot_thrust_max = cosf(pivot_angle_request_max); float pivot_thrust_max = cosf(pivot_angle_request_max);