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Plane: added in FF component in tailsitters 

this is needed for decent control of tailsitters
This commit is contained in:
Andrew Tridgell 2021-04-12 12:53:59 +10:00
parent ea3657e941
commit b984dd4a62
1 changed files with 3 additions and 3 deletions
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6
ArduPlane/tailsitter.cpp
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@ -164,9 +164,9 @@ void QuadPlane::tailsitter_output(void)
plane.rollController.reset_I();
// pull in copter control outputs
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, (motors->get_yaw())*-SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, (motors->get_pitch())*SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, (motors->get_roll())*SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, (motors->get_yaw()+motors->get_yaw_ff())*-SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, (motors->get_pitch()+motors->get_pitch_ff())*SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, (motors->get_roll()+motors->get_roll_ff())*SERVO_MAX);
if (hal.util->get_soft_armed()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, motors->thrust_to_actuator(motors->get_throttle()) * 100);