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Plane: reset yaw rate PID for scripting

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MatthewHampsey 2022-09-15 13:51:06 +10:00 committed by Andrew Tridgell
parent d17b528cab
commit 1dc18ec85a
2 changed files with 6 additions and 0 deletions
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4
ArduPlane/Attitude.cpp
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@ -352,6 +352,10 @@ void Plane::stabilize_yaw(float speed_scaler)
now calculate steering_control.rudder for the rudder now calculate steering_control.rudder for the rudder
*/ */
calc_nav_yaw_coordinated(speed_scaler); calc_nav_yaw_coordinated(speed_scaler);
/*
When not running the yaw rate controller, we need to reset the rate
*/
yawController.reset_rate_PID();
} }

2
ArduPlane/commands_logic.cpp
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@ -1159,10 +1159,12 @@ void Plane::do_nav_script_time(const AP_Mission::Mission_Command& cmd)
nav_scripting.done = false; nav_scripting.done = false;
nav_scripting.id++; nav_scripting.id++;
nav_scripting.start_ms = AP_HAL::millis(); nav_scripting.start_ms = AP_HAL::millis();
nav_scripting.current_ms = 0;
// start with current roll rate, pitch rate and throttle // start with current roll rate, pitch rate and throttle
nav_scripting.roll_rate_dps = plane.rollController.get_pid_info().target; nav_scripting.roll_rate_dps = plane.rollController.get_pid_info().target;
nav_scripting.pitch_rate_dps = plane.pitchController.get_pid_info().target; nav_scripting.pitch_rate_dps = plane.pitchController.get_pid_info().target;
nav_scripting.yaw_rate_dps = degrees(ahrs.get_gyro().z);
nav_scripting.throttle_pct = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle); nav_scripting.throttle_pct = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
} }