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ArduCopter: reset target yaw when throttle is zero (except if failsafe has been triggered)

This commit is contained in:
rmackay9 2012-07-28 23:05:05 +09:00
parent 717d0d25d4
commit 38ff381620
1 changed files with 3 additions and 1 deletions
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4
ArduCopter/ArduCopter.pde
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@ -1589,7 +1589,9 @@ void update_yaw_mode(void)
nav_yaw = ahrs.yaw_sensor; nav_yaw = ahrs.yaw_sensor;
} }
}else{ }else{
if(motors.armed() == false) // reset target yaw to current yaw if the motors are disarmed or throttle is zero
// Note: we do not want to reset yaw if failsafe has been triggered even though throttle maybe zero (in fact, normally throttle is zero in failsafe)
if(motors.armed() == false || (g.rc_3.control_in == 0 && !failsafe) )
nav_yaw = ahrs.yaw_sensor; nav_yaw = ahrs.yaw_sensor;
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw); g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);