Why the roll elevon is inverted

PX4 Autopilot
1

Hi there,

why in case of FIXED_WING the roll elevon signal in the tail-sitter is inverted?

_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];    // roll elevon`
2

That’s something that has crept in and will be refactored.

3

Does this mean that this minus was crept from the -pi/2 rotation in the fw_pos_control_l1?

4

No. Its a sign change done in the VTOL controller which was unnecessary.