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rover_pos_control: thrust normalization for joystick input (#20885)

This commit is contained in:
Andrew Wilkins 2023-01-13 17:11:39 -08:00 committed by GitHub
parent 7d92d4893e
commit 22f7d913bd
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 2 additions and 2 deletions
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4
src/modules/rover_pos_control/RoverPositionControl.cpp
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@ -141,7 +141,7 @@ RoverPositionControl::manual_control_setpoint_poll()
}
_att_sp.yaw_body = _manual_yaw_sp;
_att_sp.thrust_body[0] = _manual_control_setpoint.throttle;
_att_sp.thrust_body[0] = (_manual_control_setpoint.throttle + 1.f) * .5f;
Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
q.copyTo(_att_sp.q_d);
@ -158,7 +158,7 @@ RoverPositionControl::manual_control_setpoint_poll()
_act_controls.control[actuator_controls_s::INDEX_YAW] =
_manual_control_setpoint.roll; // Nominally yaw: _manual_control_setpoint.yaw;
// Set throttle from the manual throttle channel
_act_controls.control[actuator_controls_s::INDEX_THROTTLE] = _manual_control_setpoint.throttle;
_act_controls.control[actuator_controls_s::INDEX_THROTTLE] = (_manual_control_setpoint.throttle + 1.f) * .5f;
_reset_yaw_sp = true;
}