dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Helicopter mixer scale throttle to -1 .. +1 

Not sure why it worked for me without this change. I cannot test it myself. Should fix https://github.com/PX4/Firmware/issues/8013
This commit is contained in:
Bart Slinger 2017-10-01 23:52:15 +02:00 committed by Lorenz Meier
parent 353caec1af
commit adba797323
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/systemlib/mixer/mixer_helicopter.cpp
View File

@ -252,7 +252,7 @@ HelicopterMixer::mix(float *outputs, unsigned space)
/* Local throttle curve gradient and offset */
float tg = (_mixer_info.throttle_curve[idx + 1] - _mixer_info.throttle_curve[idx]) / 0.25f;
float to = (_mixer_info.throttle_curve[idx]) - (tg * idx * 0.25f);
float throttle = constrain((tg * thrust_cmd + to), 0.0f, 1.0f);
float throttle = constrain(2.0f * (tg * thrust_cmd + to) - 1.0f, -1.0f, 1.0f);
/* Local pitch curve gradient and offset */
float pg = (_mixer_info.pitch_curve[idx + 1] - _mixer_info.pitch_curve[idx]) / 0.25f;