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Plane: disable rudder scaling in tailsitters

this is most often implemented as dual-motor differential thrust, and
we don't want to do surface speed scaling for that.

In the future we'll move this scaling so it can be done on rudders for
3D planes
master
Andrew Tridgell 7 years ago
parent
commit
e06f160dc9
  1. 5
      ArduPlane/tailsitter.cpp

5
ArduPlane/tailsitter.cpp

@ -216,10 +216,9 @@ void QuadPlane::tailsitter_speed_scaling(void) @@ -216,10 +216,9 @@ void QuadPlane::tailsitter_speed_scaling(void)
} else {
scaling = constrain_float(hover_throttle / throttle, 1/scaling_max, scaling_max);
}
const SRV_Channel::Aux_servo_function_t functions[3] = {
const SRV_Channel::Aux_servo_function_t functions[2] = {
SRV_Channel::Aux_servo_function_t::k_aileron,
SRV_Channel::Aux_servo_function_t::k_elevator,
SRV_Channel::Aux_servo_function_t::k_rudder};
SRV_Channel::Aux_servo_function_t::k_elevator};
for (uint8_t i=0; i<ARRAY_SIZE(functions); i++) {
int32_t v = SRV_Channels::get_output_scaled(functions[i]);
v *= scaling;

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