From 69bec46fa8c8be7bf6e0140497543f5190219755 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Thu, 5 Nov 2020 14:30:19 +0000 Subject: [PATCH] AP_Motors: Tailsitter: don't apply roll and pitch compsation gain --- libraries/AP_Motors/AP_MotorsTailsitter.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsTailsitter.cpp b/libraries/AP_Motors/AP_MotorsTailsitter.cpp index bb4b70d084..ea62ff9b07 100644 --- a/libraries/AP_Motors/AP_MotorsTailsitter.cpp +++ b/libraries/AP_Motors/AP_MotorsTailsitter.cpp @@ -138,8 +138,8 @@ void AP_MotorsTailsitter::output_armed_stabilizing() // apply voltage and air pressure compensation const float compensation_gain = get_compensation_gain(); roll_thrust = (_roll_in + _roll_in_ff) * compensation_gain; - pitch_thrust = (_pitch_in + _pitch_in_ff) * compensation_gain; - yaw_thrust = (_yaw_in + _yaw_in_ff) * compensation_gain; + pitch_thrust = _pitch_in + _pitch_in_ff; + yaw_thrust = _yaw_in + _yaw_in_ff; throttle_thrust = get_throttle() * compensation_gain; // sanity check throttle is above zero and below current limited throttle