From f21ab05f486e91d353bee41fe2d7cd005923b1fb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 19 Feb 2018 15:03:56 +0100 Subject: [PATCH] mixer_multirotor: fix comment thrust_gain -> thrust_scale Added in 262d9c790bf0d3cd652. --- src/lib/mixer/mixer_multirotor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lib/mixer/mixer_multirotor.cpp b/src/lib/mixer/mixer_multirotor.cpp index ed14bf48ec..42d97e8e65 100644 --- a/src/lib/mixer/mixer_multirotor.cpp +++ b/src/lib/mixer/mixer_multirotor.cpp @@ -207,8 +207,8 @@ MultirotorMixer::mix(float *outputs, unsigned space) // Otherwise, a scaler is computed to make the distance between the two extrema exacly 1.0 and the boost // value is computed to maximize the roll-pitch control. // - // Note: thrust boost is computed assuming thrust_gain==1 for all motors. - // On asymmetric platforms, some motors have thrust_gain<1, + // Note: thrust boost is computed assuming thrust_scale==1 for all motors. + // On asymmetric platforms, some motors have thrust_scale<1, // which may result in motor saturation after thrust boost is applied // TODO: revise the saturation/boosting strategy if (delta_out_max <= 1.0f) {