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Copter: move control_stabilize yaw input higher

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Randy Mackay 2013-12-18 21:47:09 +09:00 committed by Andrew Tridgell
parent 7f56b28767
commit 3146299a0f
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/control_stabilize.pde
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@ -61,6 +61,11 @@ static void stabilize_run()
angle_target.x = target_roll; angle_target.x = target_roll;
angle_target.y = target_pitch; angle_target.y = target_pitch;
// get pilot's desired yaw rate
if (!failsafe.radio && !ap.land_complete) {
rate_stab_ef_target.z = get_pilot_desired_yaw_rate(g.rc_4.control_in);
}
// set target heading to current heading while landed // set target heading to current heading while landed
if (ap.land_complete) { if (ap.land_complete) {
angle_target.z = ahrs.yaw_sensor; angle_target.z = ahrs.yaw_sensor;
@ -73,11 +78,6 @@ static void stabilize_run()
attitude_control.angle_to_rate_ef_roll(); attitude_control.angle_to_rate_ef_roll();
attitude_control.angle_to_rate_ef_pitch(); attitude_control.angle_to_rate_ef_pitch();
// get pilot's desired yaw rate
if (!failsafe.radio && !ap.land_complete) {
rate_stab_ef_target.z = get_pilot_desired_yaw_rate(g.rc_4.control_in);
}
// set earth-frame rate stabilize target for yaw with pilot's desired yaw // set earth-frame rate stabilize target for yaw with pilot's desired yaw
// To-Do: this is quite wasteful to update the entire target vector when only yaw is used // To-Do: this is quite wasteful to update the entire target vector when only yaw is used
attitude_control.rate_stab_ef_targets(rate_stab_ef_target); attitude_control.rate_stab_ef_targets(rate_stab_ef_target);