From 016b8aeb35462aae02e4ce37ccae836127259cce Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Tue, 24 May 2022 13:33:48 +0200 Subject: [PATCH] MulticopterRateControl: fix thrust sign for acro Regression from fbc109436f00a815eb6130c6d177086e6b1ae80a --- src/modules/mc_rate_control/MulticopterRateControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp index e19a8b0e1e..85ba0c8d4d 100644 --- a/src/modules/mc_rate_control/MulticopterRateControl.cpp +++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp @@ -192,7 +192,7 @@ MulticopterRateControl::Run() vehicle_rates_setpoint.yaw = _rates_setpoint(2); vehicle_rates_setpoint.thrust_body[0] = 0.0f; vehicle_rates_setpoint.thrust_body[1] = 0.0f; - vehicle_rates_setpoint.thrust_body[2] = _thrust_setpoint; + vehicle_rates_setpoint.thrust_body[2] = -_thrust_setpoint; vehicle_rates_setpoint.timestamp = hrt_absolute_time(); _vehicle_rates_setpoint_pub.publish(vehicle_rates_setpoint);