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Copter: guided reset yaw only when initialised

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This commit is contained in:
Randy Mackay 2014-07-06 16:43:29 +09:00
parent 2b64c511ed
commit 2dfef17caf
1 changed files with 4 additions and 8 deletions
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12
ArduCopter/control_guided.pde
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@ -14,6 +14,8 @@ static bool guided_pilot_yaw_override_yaw = false;
static bool guided_init(bool ignore_checks)
{
if (GPS_ok() || ignore_checks) {
// initialise yaw
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
// start in position control mode
guided_pos_control_start();
return true;
@ -40,8 +42,8 @@ void guided_pos_control_start()
wp_nav.set_wp_destination(stopping_point);
guided_pilot_yaw_override_yaw = false;
// initialise yaw to hold at current heading (reset to point at waypoint in guided_set_destination)
set_auto_yaw_mode(AUTO_YAW_HOLD);
// initialise yaw
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
}
// initialise guided mode's velocity controller
@ -56,8 +58,6 @@ void guided_vel_control_start()
// initialise velocity controller
pos_control.init_vel_controller_xyz();
// To-Do: set yaw override and auto_yaw_mode?
}
// guided_set_destination - sets guided mode's target destination
@ -69,10 +69,6 @@ static void guided_set_destination(const Vector3f& destination)
}
wp_nav.set_wp_destination(destination);
if (!guided_pilot_yaw_override_yaw) {
// get default yaw mode
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
}
}
// guided_set_velocity - sets guided mode's target velocity