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Code Issues Releases Activity

REVONANO Trial Rate on Yaw during braking instead of AxisLock

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abeck70 2015-05-24 20:36:44 +10:00
parent ba903614c6
commit 553728ffd8
1 changed files with 4 additions and 4 deletions
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8
flight/modules/PathFollower/vtolbrakecontroller.cpp
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@ -290,7 +290,7 @@ int8_t VtolBrakeController::UpdateStabilizationDesired(void)
ManualControlCommandData manualControl; ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl); ManualControlCommandGet(&manualControl);
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK; stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw; stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
// default thrust mode to cruise control // default thrust mode to cruise control
@ -322,9 +322,9 @@ int8_t VtolBrakeController::UpdateStabilizationDesired(void)
thrustMode = settings.Stabilization6Settings.Thrust; thrustMode = settings.Stabilization6Settings.Thrust;
break; break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD: case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
// we hard code the "GPS Assisted" PostionHold/Roam to use alt-vario which thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
// is a more appropriate throttle mode. "GPSAssist" adds braking break;
// and a better throttle management to the standard Position Hold. case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO; thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
break; break;
default: default: