Rover: fix omni tri steering and lateral factors

6 years ago · 1969a84e01
1 changed files with 2 additions and 2 deletions
--- a/APMrover2/AP_MotorsUGV.cpp
+++ b/APMrover2/AP_MotorsUGV.cpp
@ -502,8 +502,8 @@ void AP_MotorsUGV::setup_omni()
    case FRAME_TYPE_OMNI3:
        _motors_num = 3;
-        add_omni_motor(0, 1.0f, 1.0f, -1.0f);
+        add_omni_motor(0, 1.0f, -1.0f, -1.0f);
-        add_omni_motor(1, 0.0f, 1.0f, 1.0f);
+        add_omni_motor(1, 0.0f, -1.0f, 1.0f);
        add_omni_motor(2, 1.0f, 1.0f, 1.0f);
        break;