From acec07fb2560aa91bb3ea02508715e9785f21882 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 21 Sep 2023 12:12:59 +0200 Subject: [PATCH] Update src/modules/mc_att_control/mc_att_control_main.cpp Co-authored-by: Matthias Grob --- src/modules/mc_att_control/mc_att_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 2808084d69..35c65d5911 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -109,7 +109,7 @@ MulticopterAttitudeControl::throttle_curve(float throttle_stick_input) _manual_throttle_minimum.getState(), _param_mpc_thr_max.get()); break; - default: // 0 or other: rescale to hover throttle at 0.5 stick + default: // 0 or other: rescale such that a centered throttle stick corresponds to hover throttle thrust = math::interpolateNXY(throttle_stick_input, {-1.f, 0.f, 1.f}, {_manual_throttle_minimum.getState(), _param_mpc_thr_hover.get(), _param_mpc_thr_max.get()}); break;