From 86fd471a9c98542164ab0284c0b5843a9ef73ed4 Mon Sep 17 00:00:00 2001 From: alekskl01 Date: Thu, 14 Dec 2023 16:29:17 +0100 Subject: [PATCH] fixed thrust alloc matrix --- auv_setup/config/robots/beluga.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/auv_setup/config/robots/beluga.yaml b/auv_setup/config/robots/beluga.yaml index 7933690b..bec8673f 100644 --- 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