[rotor_actuator] bug-fix: torque scalar should be proportionally to f…

…iltered control signal value, not input value
RobotMa · Apr 14, 2020 · 461bc00 · 461bc00
1 parent 7fedd26
commit 461bc00
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/AirLib/include/vehicles/multirotor/RotorActuator.hpp b/AirLib/include/vehicles/multirotor/RotorActuator.hpp
@@ -122,7 +122,7 @@ class RotorActuator : public PhysicsBodyVertex {
         //see relationship of rotation speed with thrust: http://physics.stackexchange.com/a/32013/14061
         output.speed = sqrt(output.control_signal_filtered * params.max_speed_square);
         output.thrust = output.control_signal_filtered * params.max_thrust;
-        output.torque_scaler = output.control_signal_input * params.max_torque * static_cast<int>(turning_direction);
+        output.torque_scaler = output.control_signal_filtered * params.max_torque * static_cast<int>(turning_direction);
         output.turning_direction = turning_direction;
     }