From de0d158f372a0b66095d107af26890de1c0d1498 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 11 Apr 2018 14:05:49 -0400 Subject: [PATCH] Sub: apply yaw input scaling in manual mode Close bluerobotics/ardusub#68 --- ArduSub/control_manual.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduSub/control_manual.cpp b/ArduSub/control_manual.cpp index d7bc79d279..c5fb2fa37a 100644 --- a/ArduSub/control_manual.cpp +++ b/ArduSub/control_manual.cpp @@ -28,7 +28,7 @@ void Sub::manual_run() 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_yaw(channel_yaw->norm_input() * 0.67f * g.acro_yaw_p / ACRO_YAW_P); motors.set_throttle(channel_throttle->norm_input()); motors.set_forward(channel_forward->norm_input()*0.67f); motors.set_lateral(channel_lateral->norm_input()*0.67f);