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Copter; integrate WPNAV's get_yaw

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Randy Mackay 2014-03-23 20:41:32 +09:00
parent 24eb195aa3
commit 392162747a
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/control_auto.pde
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@ -225,7 +225,7 @@ static void auto_spline_run()
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
}else{
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), wp_nav.get_spline_yaw(),true);
attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(), true);
}
}
@ -364,7 +364,7 @@ void set_auto_yaw_mode(uint8_t yaw_mode)
switch (auto_yaw_mode) {
case AUTO_YAW_LOOK_AT_NEXT_WP:
// original_wp_bearing will be set by do_nav_wp or other nav command initialisation functions so no init required
// wpnav will initialise heading when wpnav's set_destination method is called
break;
case AUTO_YAW_ROI:
@ -418,7 +418,7 @@ float get_auto_heading(void)
default:
// point towards next waypoint.
// we don't use wp_bearing because we don't want the copter to turn too much during flight
return original_wp_bearing;
return wp_nav.get_yaw();
break;
}
}