Fix tailsitter control frames

PX4 · May 10, 2023 · 8b53d47 · 8b53d47
1 parent b62329a
commit 8b53d47
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
@@ -288,15 +288,15 @@ void Tailsitter::fill_actuator_outputs()
 
 		/* allow differential thrust if enabled */
 		if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::YAW_BIT)) {
-			_torque_setpoint_0->xyz[0] = _vehicle_torque_setpoint_virtual_fw->xyz[2] * _param_vt_fw_difthr_s_y.get();
+			_torque_setpoint_0->xyz[0] = _vehicle_torque_setpoint_virtual_fw->xyz[0] * _param_vt_fw_difthr_s_y.get();
 		}
 
 		if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::PITCH_BIT)) {
 			_torque_setpoint_0->xyz[1] = _vehicle_torque_setpoint_virtual_fw->xyz[1] * _param_vt_fw_difthr_s_p.get();
 		}
 
 		if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::ROLL_BIT)) {
-			_torque_setpoint_0->xyz[2] = -_vehicle_torque_setpoint_virtual_fw->xyz[0] * _param_vt_fw_difthr_s_r.get();
+			_torque_setpoint_0->xyz[2] = _vehicle_torque_setpoint_virtual_fw->xyz[2] * _param_vt_fw_difthr_s_r.get();
 		}
 
 	} else {