SITL: handle negative throttle

- negative throttle was causing negative offsets
9 years ago · 1f714ed75d
1 changed files with 2 additions and 2 deletions
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@ -218,10 +218,10 @@ void Aircraft::add_noise(float throttle)
				@@ -218,10 +218,10 @@ void Aircraft::add_noise(float throttle)
 {
    gyro += Vector3f(rand_normal(0, 1),
                     rand_normal(0, 1),
-                     rand_normal(0, 1)) * gyro_noise * throttle;
+                     rand_normal(0, 1)) * gyro_noise * fabsf(throttle);
    accel_body += Vector3f(rand_normal(0, 1),
                           rand_normal(0, 1),
-                           rand_normal(0, 1)) * accel_noise * throttle;
+                           rand_normal(0, 1)) * accel_noise * fabsf(throttle);
 }

 /*