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Merge pull request #2303 from tumbili/mixer_yaw_fix 

allow to give away some thrust for yaw control
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Lorenz Meier 2015-06-08 16:42:14 +02:00
parent 68c062d1c8 b571d70488
commit a0a432fa4e
1 changed files with 3 additions and 0 deletions
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3
src/modules/systemlib/mixer/mixer_multirotor.cpp
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@ -312,6 +312,9 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
}
}
else if(out > 1.0f) {
// allow to reduce thrust to get some yaw response
float thrust_reduction = fminf(0.15f, out - 1.0f);
thrust -= thrust_reduction;
yaw = (1.0f - ((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
roll_pitch_scale + thrust + boost))/_rotors[i].yaw_scale;
if(status_reg != NULL) {