Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

Sub: apply yaw input scaling in manual mode

Browse Source 
Close bluerobotics/ardusub#68
This commit is contained in:
Jacob Walser 2018-04-11 14:05:49 -04:00
parent 2817cc61f3
commit de0d158f37
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduSub/control_manual.cpp
View File

@ -28,7 +28,7 @@ void Sub::manual_run()
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);
motors.set_yaw(channel_yaw->norm_input() * 0.67f * 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);