From 89b238f0941387b32be3c33fa3f52fae76177ac2 Mon Sep 17 00:00:00 2001 From: alexklimaj Date: Wed, 8 Mar 2023 18:47:11 -0700 Subject: [PATCH] Revert "rover_pos_control: thrust normalization for joystick input (#20885)" This reverts commit 22f7d913bd1f6f9c0500d22435d9148bc5e0fab5. --- src/modules/rover_pos_control/RoverPositionControl.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/rover_pos_control/RoverPositionControl.cpp b/src/modules/rover_pos_control/RoverPositionControl.cpp index 9a0a7d2c20..24909280e9 100644 --- a/src/modules/rover_pos_control/RoverPositionControl.cpp +++ b/src/modules/rover_pos_control/RoverPositionControl.cpp @@ -138,7 +138,7 @@ RoverPositionControl::manual_control_setpoint_poll() } _att_sp.yaw_body = _manual_yaw_sp; - _att_sp.thrust_body[0] = (_manual_control_setpoint.throttle + 1.f) * .5f; + _att_sp.thrust_body[0] = _manual_control_setpoint.throttle; Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body)); q.copyTo(_att_sp.q_d); @@ -152,7 +152,7 @@ RoverPositionControl::manual_control_setpoint_poll() // Set heading from the manual roll input channel _yaw_control = _manual_control_setpoint.roll; // Nominally yaw: _manual_control_setpoint.yaw; // Set throttle from the manual throttle channel - _throttle_control = (_manual_control_setpoint.throttle + 1.f) * .5f; + _throttle_control = _manual_control_setpoint.throttle; _reset_yaw_sp = true; }