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vmount: fix RC pitch input scale 

When scaling manual input, we should only use pitch -90 to +90 instead
of -180 to 180 degrees which leads to weird behavior as it gets passed
on by a quaternion.
This commit is contained in:
Julian Oes 2021-11-30 06:20:46 +01:00 committed by Beat Küng
parent 76585409fa
commit 01db98fccf
1 changed files with 2 additions and 1 deletions
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3
src/modules/vmount/input_rc.cpp
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@ -131,7 +131,8 @@ bool InputRC::_read_control_data_from_subscription(ControlData &control_data, bo
_first_time = false;
matrix::Eulerf euler(new_aux_values[0] * M_PI_F, new_aux_values[1] * M_PI_F,
// We scale manual input from roll -180..180, pitch -90..90, yaw, -180..180 degrees.
matrix::Eulerf euler(new_aux_values[0] * M_PI_F, new_aux_values[1] * M_PI_F / 2.0f,
new_aux_values[2] * M_PI_F);
matrix::Quatf q(euler);
q.copyTo(control_data.type_data.angle.q);