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Copter: add WP_YAW_BEHAVE parameter 

Allows user to control whether nose points towards next waypoint and/or
home when RTLing.
Replaces YAW_OVR_BEHAVE which had a very similar purpose.  Almost nobody
ever knew about or used this parameter.
This commit is contained in:
Randy Mackay 2013-04-18 15:30:18 +09:00
parent 18c1373847
commit 0fc9c8739e
4 changed files with 15 additions and 13 deletions
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4
ArduCopter/Parameters.h
View File

@ -78,7 +78,7 @@ public:
k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
k_param_rssi_pin, k_param_rssi_pin,
k_param_throttle_accel_enabled, k_param_throttle_accel_enabled,
k_param_yaw_override_behaviour, k_param_wp_yaw_behavior,
k_param_acro_trainer_enabled, k_param_acro_trainer_enabled,
k_param_pilot_velocity_z_max, // 28 k_param_pilot_velocity_z_max, // 28
@ -282,7 +282,7 @@ public:
AP_Int8 battery_curr_pin; AP_Int8 battery_curr_pin;
AP_Int8 rssi_pin; AP_Int8 rssi_pin;
AP_Int8 throttle_accel_enabled; // enable/disable accel based throttle controller AP_Int8 throttle_accel_enabled; // enable/disable accel based throttle controller
AP_Int8 yaw_override_behaviour; // controls when autopilot takes back normal control of yaw after pilot overrides AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
// Waypoints // Waypoints
// //

10
ArduCopter/Parameters.pde
View File

@ -182,12 +182,12 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard // @User: Standard
GSCALAR(throttle_accel_enabled, "THR_ACC_ENABLE", 1), GSCALAR(throttle_accel_enabled, "THR_ACC_ENABLE", 1),
// @Param: YAW_OVR_BEHAVE // @Param: WP_YAW_BEHAVIOR
// @DisplayName: Yaw override behaviour // @DisplayName: Yaw behaviour during missions
// @Description: Controls when autopilot takes back normal control of yaw after pilot overrides // @Description: Determines how the autopilot controls the yaw during missions and RTL
// @Values: 0:At Next WP, 1:On Mission Restart // @Values: 0:Never change yaw, 1:Face next waypoint, 2:Face next waypoint except RTL
// @User: Advanced // @User: Advanced
GSCALAR(yaw_override_behaviour, "YAW_OVR_BEHAVE", YAW_OVERRIDE_BEHAVIOUR_AT_NEXT_WAYPOINT), GSCALAR(wp_yaw_behavior, "WP_YAW_BEHAVIOR", WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP),
// @Param: WP_TOTAL // @Param: WP_TOTAL
// @DisplayName: Waypoint Total // @DisplayName: Waypoint Total

5
ArduCopter/commands_logic.pde
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@ -279,7 +279,7 @@ static void do_nav_wp()
loiter_time_max = command_nav_queue.p1; loiter_time_max = command_nav_queue.p1;
// reset control of yaw to default // reset control of yaw to default
if( g.yaw_override_behaviour == YAW_OVERRIDE_BEHAVIOUR_AT_NEXT_WAYPOINT ) { if( g.wp_yaw_behavior == WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP || g.wp_yaw_behavior == WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL) {
set_yaw_mode(AUTO_YAW); set_yaw_mode(AUTO_YAW);
} }
} }
@ -516,8 +516,9 @@ static bool verify_RTL()
rtl_state = RTL_STATE_INITIAL_CLIMB; rtl_state = RTL_STATE_INITIAL_CLIMB;
}else{ }else{
// point nose towards home // point nose towards home
// To-Do: make this user configurable whether RTL points towards home or not if(g.wp_yaw_behavior == WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP) {
set_yaw_mode(RTL_YAW); set_yaw_mode(RTL_YAW);
}
// Set wp navigation target to above home // Set wp navigation target to above home
wp_nav.set_destination(Vector3f(0,0,get_RTL_alt())); wp_nav.set_destination(Vector3f(0,0,get_RTL_alt()));

7
ArduCopter/defines.h
View File

@ -187,9 +187,10 @@
#define NAV_WP 3 #define NAV_WP 3
#define NAV_WP_INAV 5 #define NAV_WP_INAV 5
// Yaw override behaviours - used for setting yaw_override_behaviour // Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter
#define YAW_OVERRIDE_BEHAVIOUR_AT_NEXT_WAYPOINT 0 // auto pilot takes back yaw control at next waypoint #define WP_YAW_BEHAVIOR_NONE 0 // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received)
#define YAW_OVERRIDE_BEHAVIOUR_AT_MISSION_RESTART 1 // auto pilot tkaes back control only when mission is restarted #define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP 1 // auto pilot will face next waypoint or home during rtl
#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL 2 // auto pilot will face next waypoint except when doing RTL at which time it will stay in it's last
// TOY mixing options // TOY mixing options
#define TOY_LOOKUP_TABLE 0 #define TOY_LOOKUP_TABLE 0