From be275e2cac91859ca81b0e106a07ae010d80e192 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Tue, 31 Jan 2023 01:54:34 +0000 Subject: [PATCH] Copter: use new motors thrust linrisation, don't send air density ratio --- ArduCopter/mode_turtle.cpp | 2 +- ArduCopter/sensors.cpp | 2 -- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/ArduCopter/mode_turtle.cpp b/ArduCopter/mode_turtle.cpp index 99c5d2b08d..74dc49421e 100644 --- a/ArduCopter/mode_turtle.cpp +++ b/ArduCopter/mode_turtle.cpp @@ -163,7 +163,7 @@ void ModeTurtle::run() Vector2f input{sign_roll, sign_pitch}; motors_input = input.normalized() * 0.5; // we bypass spin min and friends in the deadzone because we only want spin up when the sticks are moved - motors_output = !is_zero(flip_power) ? motors->thrust_to_actuator(flip_power) : 0.0f; + motors_output = !is_zero(flip_power) ? motors->thr_lin.thrust_to_actuator(flip_power) : 0.0f; } // actually write values to the motors diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp index fd103ee218..589561b8cf 100644 --- a/ArduCopter/sensors.cpp +++ b/ArduCopter/sensors.cpp @@ -6,8 +6,6 @@ void Copter::read_barometer(void) barometer.update(); baro_alt = barometer.get_altitude() * 100.0f; - - motors->set_air_density_ratio(barometer.get_air_density_ratio()); } void Copter::init_rangefinder(void)