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Rover: only use pivot steering in AUTO modes

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Andrew Tridgell 2014-02-24 08:23:20 +11:00
parent 5db9a87d31
commit 203073e3ba
1 changed files with 1 additions and 1 deletions
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2
APMrover2/Steering.pde
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@ -69,7 +69,7 @@ static bool auto_check_trigger(void)
*/ */
static bool use_pivot_steering(void) static bool use_pivot_steering(void)
{ {
if (g.skid_steer_out && g.pivot_turn_angle != 0) { if (control_mode >= AUTO && g.skid_steer_out && g.pivot_turn_angle != 0) {
int16_t bearing_error = wrap_180_cd(nav_controller->target_bearing_cd() - ahrs.yaw_sensor) / 100; int16_t bearing_error = wrap_180_cd(nav_controller->target_bearing_cd() - ahrs.yaw_sensor) / 100;
if (abs(bearing_error) > g.pivot_turn_angle) { if (abs(bearing_error) > g.pivot_turn_angle) {
return true; return true;