AP_Motors: Tricopter: fix actuator indexing #26313
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IamPete1
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tridge
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rmackay9
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This corrects the tricopter actuator indexing it was off by one, confusingly
AP_MOTORS_MOT_1= 0. This fix means it lines up with the indexing used by quadplanes to output in forward flight in theoutput_motor_maskmethod:ardupilot/libraries/AP_Motors/AP_MotorsMulticopter.cpp
Line 726 in 728d9a9
This also corrects to zero the
_actuatorin theSpoolState::SHUT_DOWNcase so the slewing picks up again in the correct spot.Nether of these bugs are a issue unless your using a slew limit on the outputs with
MOT_SLEW_UP_TIMEandMOT_SLEW_DN_TIME.