From 1a308c2eb819375c9280524761e5ddd05a83b781 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Fri, 22 Jan 2016 11:09:50 +0900 Subject: [PATCH] AP_MotorsCoax: roll, pitch, yaw input in -1 to +1 range --- libraries/AP_Motors/AP_MotorsCoax.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsCoax.cpp b/libraries/AP_Motors/AP_MotorsCoax.cpp index 853016be68..e3ca033d13 100644 --- a/libraries/AP_Motors/AP_MotorsCoax.cpp +++ b/libraries/AP_Motors/AP_MotorsCoax.cpp @@ -200,9 +200,9 @@ void AP_MotorsCoax::output_armed_stabilizing() // apply voltage and air pressure compensation // todo: we shouldn't need input reversing with servo reversing - roll_thrust = get_roll_thrust() * get_compensation_gain(); - pitch_thrust = get_pitch_thrust() * get_compensation_gain(); - yaw_thrust = get_yaw_thrust() * get_compensation_gain(); + roll_thrust = _roll_in * get_compensation_gain(); + pitch_thrust = _pitch_in * get_compensation_gain(); + yaw_thrust = _yaw_in * get_compensation_gain(); throttle_thrust = get_throttle() * get_compensation_gain(); // assuming maximum actuator defection the maximum roll and pitch torque is approximately proportional to thrust