From 967ead31db81137f0dec558c121a692119f832d7 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Fri, 19 Aug 2016 16:12:43 -0700 Subject: [PATCH] Sub: Hardcoded scalars for manual mode to match stabilize mode --- ArduSub/control_manual.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ArduSub/control_manual.cpp b/ArduSub/control_manual.cpp index f70f9fa342..afb3791167 100644 --- a/ArduSub/control_manual.cpp +++ b/ArduSub/control_manual.cpp @@ -27,10 +27,10 @@ void Sub::manual_run() motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); - motors.set_roll(channel_roll->norm_input()); - motors.set_pitch(channel_pitch->norm_input()); + motors.set_roll(channel_roll->norm_input()*0.67f); + motors.set_pitch(channel_pitch->norm_input()*0.67f); motors.set_yaw(channel_yaw->norm_input()*0.67f); motors.set_throttle(channel_throttle->norm_input()); - motors.set_forward(channel_forward->norm_input()); - motors.set_lateral(channel_lateral->norm_input()); + motors.set_forward(channel_forward->norm_input()*0.67f); + motors.set_lateral(channel_lateral->norm_input()*0.67f); }