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Merged in f5soh/librepilot/LP-569_PosHold_YawControl (pull request #485)

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LP-569 Ignore YawControl while using PosHold, AutoTakeOff and AutoCruize

Approved-by: Lalanne Laurent <f5soh@free.fr>
Approved-by: Alessio Morale <alessiomorale@gmail.com>
Approved-by: Philippe Renon <philippe_renon@yahoo.fr>
Approved-by: Paul Jewell <paul@teulu.org>
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Lalanne Laurent 2018-03-11 12:22:52 +00:00 committed by Philippe Renon
commit 578e7adb94
1 changed files with 3 additions and 1 deletions
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4
flight/modules/PathFollower/vtolflycontroller.cpp
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@ -274,7 +274,9 @@ int8_t VtolFlyController::UpdateStabilizationDesired(bool yaw_attitude, float ya
} }
#endif // if 0 #endif // if 0
if (yaw_attitude) { // Yaw Attitude will be disabled without velocity requested.
// PositionHold, AutoTakeoff or AutoCruise still using manual Yaw.
if (yaw_attitude && ((fabsf(pathDesired->StartingVelocity) > 0.0f) && (fabsf(pathDesired->EndingVelocity) > 0.0f))) {
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE; stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Yaw = yaw_direction; stabDesired.Yaw = yaw_direction;
} else { } else {