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SITL: Single and Coax fixes

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Leonard Hall 2016-05-28 23:01:16 +09:30 committed by Andrew Tridgell
parent f96836ab9a
commit e5bdf0a0a2
1 changed files with 2 additions and 2 deletions
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4
libraries/SITL/SIM_SingleCopter.cpp
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@ -62,7 +62,7 @@ void SingleCopter::update(const struct sitl_input &input)
switch (frame_type) {
case FRAME_SINGLE:
thrust = constrain_float((input.servos[4]-1000) / 1000.0f, 0, 1);
yaw_thrust = (actuator[0] + actuator[1] + actuator[2] + actuator[3]) * 0.25f * thrust + thrust * rotor_rot_accel;
yaw_thrust = -(actuator[0] + actuator[1] + actuator[2] + actuator[3]) * 0.25f * thrust + thrust * rotor_rot_accel;
roll_thrust = (actuator[0] - actuator[2]) * 0.5f * thrust;
pitch_thrust = (actuator[1] - actuator[3]) * 0.5f * thrust;
break;
@ -72,7 +72,7 @@ void SingleCopter::update(const struct sitl_input &input)
float motor1 = constrain_float((input.servos[4]-1000) / 1000.0f, 0, 1);
float motor2 = constrain_float((input.servos[5]-1000) / 1000.0f, 0, 1);
thrust = 0.5f*(motor1 + motor2);
yaw_thrust = (actuator[0] + actuator[1] + actuator[2] + actuator[3]) * 0.25f * thrust + (motor2 - motor1) * rotor_rot_accel;
yaw_thrust = -(actuator[0] + actuator[1] + actuator[2] + actuator[3]) * 0.25f * thrust + (motor2 - motor1) * rotor_rot_accel;
roll_thrust = (actuator[0] - actuator[2]) * 0.5f * thrust;
pitch_thrust = (actuator[1] - actuator[3]) * 0.5f * thrust;
break;