From a3450b712ca6e510de2df42b89faa43aa61f6c17 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 4 Feb 2016 20:50:06 +0900 Subject: [PATCH] AP_Motors: fix example sketch --- .../AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp index 66e8ae5929..1018e83761 100644 --- a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp +++ b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp @@ -40,7 +40,7 @@ void motor_order_test(); void stability_test(); void update_motors(); -#define HELI_TEST 1 // set to 1 to test helicopters +#define HELI_TEST 0 // set to 1 to test helicopters #define NUM_OUTPUTS 4 // set to 6 for hexacopter, 8 for octacopter and heli RC_Channel rc1(0), rc2(1), rc3(2), rc4(3); @@ -160,8 +160,8 @@ void stability_test() pitch_in = rpy_tests[p]; yaw_in = rpy_tests[y]; throttle_in = throttle_tests[t]/1000.0f; - motors.set_pitch(roll_in/4500.0f); - motors.set_roll(pitch_in/4500.0f); + motors.set_roll(roll_in/4500.0f); + motors.set_pitch(pitch_in/4500.0f); motors.set_yaw(yaw_in/4500.0f); motors.set_throttle(throttle_in); motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);