fixed thrust alloc matrix

vortexntnu · Dec 14, 2023 · 86fd471 · 86fd471
1 parent 66a7894
commit 86fd471
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/auv_setup/config/robots/beluga.yaml b/auv_setup/config/robots/beluga.yaml
@@ -41,7 +41,7 @@ propulsion:
        [-0.70711,  0.00000,  0.00000,  0.70711, -0.70711,  0.00000,  0.00000,  0.70711 ], # Sway
        [ 0.00000,  1.00000,  1.00000,  0.00000,  0.00000,  1.00000,  1.00000,  0.00000 ], # Heave
 
-       [ 0.04950,  0.22000,  0.15000, -0.04950,  0.04950, -0.22000, -0.22000, -0.04950 ], # Roll
+       [ 0.04950,  0.22000,  0.22000, -0.04950,  0.04950, -0.22000, -0.22000, -0.04950 ], # Roll
        [ 0.04950, -0.32250,  0.32250,  0.04950,  0.04950,  0.32250, -0.32250,  0.04950 ], # Pitch 
        [-0.47200,  0.00000,  0.00000, -0.46139,  0.46139,  0.00000,  0.00000,  0.47200 ]] # Yaw