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AP_Motors: Tailsitter: don't apply roll and pitch compsation gain

This commit is contained in:
Iampete1 2020-11-05 14:30:19 +00:00 committed by Andrew Tridgell
parent c8b3c91ae5
commit 69bec46fa8
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Motors/AP_MotorsTailsitter.cpp
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@ -138,8 +138,8 @@ void AP_MotorsTailsitter::output_armed_stabilizing()
// apply voltage and air pressure compensation
const float compensation_gain = get_compensation_gain();
roll_thrust = (_roll_in + _roll_in_ff) * compensation_gain;
pitch_thrust = (_pitch_in + _pitch_in_ff) * compensation_gain;
yaw_thrust = (_yaw_in + _yaw_in_ff) * compensation_gain;
pitch_thrust = _pitch_in + _pitch_in_ff;
yaw_thrust = _yaw_in + _yaw_in_ff;
throttle_thrust = get_throttle() * compensation_gain;
// sanity check throttle is above zero and below current limited throttle