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Code Issues Releases Activity

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

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This commit is contained in:
Laurent Lalanne 2017-12-17 18:53:40 +01:00
parent 213893e298
commit 5be3aad67b
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
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.Yaw = yaw_direction;
} else {