From f41e5728fc132a7cd2764f166e36ca4d2f5909ea Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 18 Dec 2012 13:18:36 +0100 Subject: [PATCH] Correct demixing scaling for v-tail mixers --- apps/sensors/sensors.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index b63bfb195a..94dbd0b21e 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -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 */