mirror of https://github.com/ArduPilot/ardupilot
Copter: bug fix for stabilize_run's yaw control
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1fdfa751e6
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@ -36,8 +36,8 @@ static void acro_run()
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// should be called at 100hz or more
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static void stabilize_run()
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{
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Vector3f angle_target; // for roll and pitch angle targets
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Vector3f rate_stab_ef_target; // for yaw rate target
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Vector3f angle_target = attitude_control.angle_ef_targets(); // for roll, pitch and yaw angular targets
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Vector3f rate_stab_ef_target; // for yaw rate target. Note Vector3f initialises all values to zero in constructor
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int16_t target_roll, target_pitch;
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// apply SIMPLE mode transform to pilot inputs
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@ -49,6 +49,11 @@ static void stabilize_run()
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angle_target.x = target_roll;
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angle_target.y = target_pitch;
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// set target heading to current heading while landed
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if (ap.land_complete) {
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angle_target.z = ahrs.yaw_sensor;
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}
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// set earth-frame angular targets
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attitude_control.angle_ef_targets(angle_target);
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@ -57,7 +62,9 @@ static void stabilize_run()
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attitude_control.angle_to_rate_ef_pitch();
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// get pilot's desired yaw rate
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if (!failsafe.radio && !ap.land_complete) {
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rate_stab_ef_target.z = get_pilot_desired_yaw_rate(g.rc_4.control_in);
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}
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// set earth-frame rate stabilize target for yaw with pilot's desired yaw
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// To-Do: this is quite wasteful to update the entire target vector when only yaw is used
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@ -70,6 +77,12 @@ static void stabilize_run()
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// convert earth-frame rates to body-frame rates
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attitude_control.rate_ef_targets_to_bf();
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// refetch angle targets for reporting
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angle_target = attitude_control.angle_ef_targets();
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control_roll = angle_target.x;
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control_pitch = angle_target.y;
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control_yaw = angle_target.z;
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// body-frame rate controller is run directly from 100hz loop
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// To-Do: add throttle control for stabilize mode here?
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