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Plane: enable weathervaning in GUIDED and TAKEOFF quadplane modes

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This commit is contained in:
Andrew Tridgell 2016-05-06 11:50:26 +10:00
parent 6b358a5618
commit 357ed1f4b9
1 changed files with 5 additions and 8 deletions
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13
ArduPlane/quadplane.cpp
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@ -1063,16 +1063,12 @@ bool QuadPlane::in_vtol_auto(void)
if (!enable) {
return false;
}
if (plane.control_mode != AUTO &&
plane.control_mode != GUIDED) {
if (plane.control_mode != AUTO) {
return false;
}
if (plane.auto_state.vtol_mode) {
return true;
}
if (plane.control_mode == GUIDED) {
return false;
}
switch (plane.mission.get_current_nav_cmd().id) {
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_NAV_VTOL_TAKEOFF:
@ -1095,6 +1091,7 @@ bool QuadPlane::in_vtol_mode(void)
plane.control_mode == QLOITER ||
plane.control_mode == QLAND ||
plane.control_mode == QRTL ||
(plane.control_mode == GUIDED && plane.auto_state.vtol_mode) ||
in_vtol_auto());
}
@ -1125,7 +1122,7 @@ void QuadPlane::vtol_position_controller(void)
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_smooth(plane.nav_roll_cd,
plane.nav_pitch_cd,
get_pilot_input_yaw_rate_cds(),
get_pilot_input_yaw_rate_cds() + get_weathervane_yaw_rate_cds(),
smoothing_gain);
// nav roll and pitch are controller by position controller
plane.nav_roll_cd = pos_control->get_roll();
@ -1240,7 +1237,7 @@ void QuadPlane::vtol_position_controller(void)
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_smooth(plane.nav_roll_cd,
plane.nav_pitch_cd,
get_pilot_input_yaw_rate_cds(),
get_pilot_input_yaw_rate_cds() + get_weathervane_yaw_rate_cds(),
smoothing_gain);
break;
@ -1338,7 +1335,7 @@ void QuadPlane::takeoff_controller(void)
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_smooth(plane.nav_roll_cd,
plane.nav_pitch_cd,
get_pilot_input_yaw_rate_cds(),
get_pilot_input_yaw_rate_cds() + get_weathervane_yaw_rate_cds(),
smoothing_gain);
// nav roll and pitch are controller by position controller