AP_Motors: output mask: do not apply copter sin params and epxo

4 years ago · 0c2037438b
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
@ -761,7 +761,7 @@ void AP_MotorsMulticopter::output_motor_mask(float thrust, uint8_t mask, float r
				@@ -761,7 +761,7 @@ void AP_MotorsMulticopter::output_motor_mask(float thrust, uint8_t mask, float r
                 apples to either tilted motors or tailsitters
                 */
                float diff_thrust = get_roll_factor(i) * rudder_dt * 0.5f;
-                set_actuator_with_slew(_actuator[i], thrust_to_actuator(thrust + diff_thrust));
+                set_actuator_with_slew(_actuator[i], thrust + diff_thrust);
                int16_t pwm_output = pwm_min + pwm_range * _actuator[i];
                rc_write(i, pwm_output);
            } else {