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Correct demixing scaling for v-tail mixers

This commit is contained in:
Lorenz Meier 2012-12-18 13:18:36 +01:00
parent 4c2862f6c0
commit f41e5728fc
1 changed files with 1 additions and 1 deletions
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2
apps/sensors/sensors.cpp
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@ -1001,7 +1001,7 @@ Sensors::ppm_poll()
// XXX hardcoded for testing purposes, replace with inverted delta mixer from ROMFS
/* roll input - mixed roll and pitch channels */
manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled - _rc.chan[_rc.function[PITCH]].scaled;
manual_control.roll = -0.5f * (_rc.chan[_rc.function[ROLL]].scaled - _rc.chan[_rc.function[PITCH]].scaled);
/* pitch input - mixed roll and pitch channels */
manual_control.pitch = -0.5f * (_rc.chan[_rc.function[ROLL]].scaled + _rc.chan[_rc.function[PITCH]].scaled);
/* yaw input - stick right is positive and positive rotation */