Remove the incorrect force generated by moment (#532)

PX4 · Jun 23, 2020 · 726c066 · 726c066
1 parent 309f7b0
commit 726c066
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/liftdrag_plugin/liftdrag_plugin.cpp b/src/liftdrag_plugin/liftdrag_plugin.cpp
@@ -394,7 +394,7 @@ void LiftDragPlugin::OnUpdate()
   // gzerr << this->cp << " : " << this->link->GetInertial()->CoG() << "\n";
 
   // force and torque about cg in inertial frame
-  ignition::math::Vector3d force = lift + drag + moment.Cross(momentArm);
+  ignition::math::Vector3d force = lift + drag;
 
   ignition::math::Vector3d torque = moment - lift.Cross(momentArm) - drag.Cross(momentArm);