From dff0051568602d60f6b8b3d501a2ea78e98b9d7e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 17 Oct 2012 19:02:57 +0200 Subject: [PATCH] Map inputs to the controller we actually want --- apps/multirotor_att_control/multirotor_att_control_main.c | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index 82d4c0f253..dfb778fd0a 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -195,7 +195,7 @@ mc_thread_main(int argc, char *argv[]) rates_sp.roll = manual.roll; rates_sp.pitch = manual.pitch; - rates_sp.yaw = att.yaw + manual.yaw * 2.0f; + rates_sp.yaw = manual.yaw; rates_sp.thrust = manual.throttle; //printf("rates\n"); rates_sp.timestamp = hrt_absolute_time(); @@ -204,9 +204,7 @@ mc_thread_main(int argc, char *argv[]) if (state.flag_control_attitude_enabled) { att_sp.roll_body = manual.roll; att_sp.pitch_body = manual.pitch; - att_sp.yaw_body = manual.yaw; // XXX Hack, clean up - /* set yaw rate */ - rates_sp.yaw = manual.yaw; + att_sp.yaw_body = att.yaw + manual.yaw * -2.0f; att_sp.thrust = manual.throttle; att_sp.timestamp = hrt_absolute_time(); }