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Plane: tailsitter: only flag tilt limit on vectored vehicles

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Iampete1 2021-08-24 00:12:10 +01:00 committed by Andrew Tridgell
parent 85e57a3bd8
commit a368549a9d
1 changed files with 1 additions and 1 deletions
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2
ArduPlane/tailsitter.cpp
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@ -374,7 +374,7 @@ void Tailsitter::output(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right);
// Check for saturated limits
bool tilt_lim = (labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_tiltMotorLeft)) == SERVO_MAX) || (labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_tiltMotorRight)) == SERVO_MAX);
bool tilt_lim = _is_vectored && ((labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_tiltMotorLeft)) == SERVO_MAX) || (labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_tiltMotorRight)) == SERVO_MAX));
bool roll_lim = labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_rudder)) == SERVO_MAX;
bool pitch_lim = labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_elevator)) == SERVO_MAX;
bool yaw_lim = labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_aileron)) == SERVO_MAX;