Sub: Hardcoded scalars for manual mode to match stabilize mode

9 years ago · 967ead31db
1 changed files with 4 additions and 4 deletions
--- a/ArduSub/control_manual.cpp
+++ b/ArduSub/control_manual.cpp
@ -27,10 +27,10 @@ void Sub::manual_run()
				@@ -27,10 +27,10 @@ void Sub::manual_run()

    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

-    motors.set_roll(channel_roll->norm_input());
-    motors.set_pitch(channel_pitch->norm_input());
+    motors.set_roll(channel_roll->norm_input()*0.67f);
+    motors.set_pitch(channel_pitch->norm_input()*0.67f);
    motors.set_yaw(channel_yaw->norm_input()*0.67f);
    motors.set_throttle(channel_throttle->norm_input());
-    motors.set_forward(channel_forward->norm_input());
-    motors.set_lateral(channel_lateral->norm_input());
+    motors.set_forward(channel_forward->norm_input()*0.67f);
+    motors.set_lateral(channel_lateral->norm_input()*0.67f);
 }