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SIH: fix sign error from previous PR #24205

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SIH: fix sign error from previous PR #24205

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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,6 @@ param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4

param set HIL_ACT_REV 1
param set HIL_ACT_FUNC1 201
param set HIL_ACT_FUNC2 202
param set HIL_ACT_FUNC3 203
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2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil
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Expand Up @@ -54,7 +54,7 @@ param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS2_TRQ_Y 1

param set HIL_ACT_REV 32
param set HIL_ACT_REV 16

param set-default FW_AIRSPD_MAX 12
param set-default FW_AIRSPD_MIN 7
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6 changes: 3 additions & 3 deletions src/modules/simulation/simulator_sih/sih.cpp
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Expand Up @@ -358,10 +358,10 @@ void Sih::generate_fw_aerodynamics(const float roll_cmd, const float pitch_cmd,
const Vector3f v_B = _q_E.rotateVectorInverse(_v_E);
const float &alt = _lla.altitude();

_wing_l.update_aero(v_B, _w_B, alt, roll_cmd * FLAP_MAX);
_wing_r.update_aero(v_B, _w_B, alt, -roll_cmd * FLAP_MAX);
_wing_l.update_aero(v_B, _w_B, alt, -roll_cmd * FLAP_MAX);
_wing_r.update_aero(v_B, _w_B, alt, roll_cmd * FLAP_MAX);

_tailplane.update_aero(v_B, _w_B, alt, pitch_cmd * FLAP_MAX, _T_MAX * throttle_cmd);
_tailplane.update_aero(v_B, _w_B, alt, -pitch_cmd * FLAP_MAX, _T_MAX * throttle_cmd);
_fin.update_aero(v_B, _w_B, alt, yaw_cmd * FLAP_MAX, _T_MAX * throttle_cmd);
_fuselage.update_aero(v_B, _w_B, alt);

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