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Sub: remove arbitrary scalars from manual mode inputs

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fix bluerobotics/ardusub#150
This commit is contained in:
Jacob Walser 2018-04-20 16:45:03 -04:00
parent 7e9d1908ea
commit 6c9e5e9830
1 changed files with 5 additions and 5 deletions
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10
ArduSub/control_manual.cpp
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@ -26,10 +26,10 @@ void Sub::manual_run()
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
motors.set_roll(channel_roll->norm_input()*0.67f);
motors.set_pitch(channel_pitch->norm_input()*0.67f);
motors.set_yaw(channel_yaw->norm_input() * 0.67f * g.acro_yaw_p / ACRO_YAW_P);
motors.set_roll(channel_roll->norm_input());
motors.set_pitch(channel_pitch->norm_input());
motors.set_yaw(channel_yaw->norm_input() * g.acro_yaw_p / ACRO_YAW_P);
motors.set_throttle(channel_throttle->norm_input());
motors.set_forward(channel_forward->norm_input()*0.67f);
motors.set_lateral(channel_lateral->norm_input()*0.67f);
motors.set_forward(channel_forward->norm_input());
motors.set_lateral(channel_lateral->norm_input());
}