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Multicopter mixer: When saturating, compute the new yaw value based on 

the reduced thrust value
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bresch 2017-05-29 16:50:34 +02:00 committed by Lorenz Meier
parent a0ee07e357
commit cdd7c57ded
1 changed files with 1 additions and 1 deletions
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2
src/modules/systemlib/mixer/mixer_multirotor.cpp
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@ -334,7 +334,7 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
} else {
yaw = (1.0f - ((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
roll_pitch_scale + thrust + boost)) / _rotors[i].yaw_scale;
roll_pitch_scale + (thrust - thrust_reduction) + boost)) / _rotors[i].yaw_scale;
}
}
}