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Plane: tiltrotor: vectoring: correct roll sign and always apply throttle scale #34086

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Plane: tiltrotor: vectoring: correct roll sign and always apply throttle scale #34086

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11 changes: 5 additions & 6 deletions ArduPlane/tiltrotor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -611,7 +611,10 @@ void Tiltrotor::vectoring(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRear, 1000 * constrain_float(base_output + mid,0,1));
} else {
const float yaw_out = motors->get_yaw()+motors->get_yaw_ff();
const float roll_out = motors->get_roll()+motors->get_roll_ff();
// the MotorsMatrix library normalises roll factor to 0.5, so
// we need to use the same factor here to keep the same roll
// gains when tilted as we have when not tilted
const float roll_out = (motors->get_roll()+motors->get_roll_ff()) * 0.5;
const float yaw_range = zero_out;

// Scaling yaw with throttle
Expand All @@ -627,11 +630,7 @@ void Tiltrotor::vectoring(void)
const float tilt_rad = radians(current_tilt*90);
const float sin_tilt = sinf(tilt_rad);
const float cos_tilt = cosf(tilt_rad);
// the MotorsMatrix library normalises roll factor to 0.5, so
// we need to use the same factor here to keep the same roll
// gains when tilted as we have when not tilted
const float avg_roll_factor = 0.5;
float tilt_scale = throttle_scaler * yaw_out * cos_tilt + avg_roll_factor * roll_out * sin_tilt;
float tilt_scale = throttle_scaler * (yaw_out * cos_tilt - roll_out * sin_tilt);

if (fabsf(tilt_scale) > 1.0) {
tilt_scale = constrain_float(tilt_scale, -1.0, 1.0);
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