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Yaw Fix

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Modified Nav_Yaw controller to better track intended heading changes.
This commit is contained in:
Robert Lefebvre 2012-06-07 17:15:33 -04:00
parent 71111a5816
commit 1b789b7928
1 changed files with 7 additions and 12 deletions
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17
ArduCopter/Attitude.pde
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@ -254,7 +254,11 @@ get_rate_yaw(int32_t target_rate)
output = p+i+d; output = p+i+d;
// output control: // output control:
#if FRAME_CONFIG == HELI_FRAME
int16_t yaw_limit = 2800 + abs(g.rc_4.control_in);
#else
int16_t yaw_limit = 1400 + abs(g.rc_4.control_in); int16_t yaw_limit = 1400 + abs(g.rc_4.control_in);
#endif
// constrain output // constrain output
output = constrain(output, -yaw_limit, yaw_limit); output = constrain(output, -yaw_limit, yaw_limit);
@ -405,18 +409,9 @@ get_nav_yaw_offset(int yaw_input, int reset)
return ahrs.yaw_sensor; return ahrs.yaw_sensor;
}else{ }else{
// re-define nav_yaw if we have stick input _yaw = nav_yaw + (yaw_input / 50);
if(yaw_input != 0){ return wrap_360(_yaw);
// set nav_yaw + or - the current location
_yaw = yaw_input + ahrs.yaw_sensor;
// we need to wrap our value so we can be 0 to 360 (*100)
return wrap_360(_yaw);
}else{
// no stick input, lets not change nav_yaw
return nav_yaw;
} }
}
} }
static int16_t get_angle_boost(int16_t value) static int16_t get_angle_boost(int16_t value)