updated forces and moments to max new mixing

rosflight · Aug 1, 2024 · 6e3b24e · 6e3b24e
1 parent 554b450
commit 6e3b24e
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/rosflight_sim/src/fixedwing_forces_and_moments.cpp b/rosflight_sim/src/fixedwing_forces_and_moments.cpp
@@ -401,8 +401,8 @@ Eigen::Matrix<double, 6, 1> Fixedwing::update_forces_and_torques(CurrentState x,
 {
   delta_.a = (act_cmds[0] - 1500.0) / 500.0;
   delta_.e = -(act_cmds[1] - 1500.0) / 500.0;
-  delta_.t = (act_cmds[2] - 1000.0) / 1000.0;
-  delta_.r = -(act_cmds[3] - 1500.0) / 500.0;
+  delta_.t = (act_cmds[4] - 1000.0) / 1000.0;
+  delta_.r = -(act_cmds[2] - 1500.0) / 500.0;
 
   Actuators delta_curr;