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Copter: Add set_yaw_angle_offset() function to AutoYaw mode

This commit is contained in:
Nick Exton 2024-10-01 15:39:28 +10:00 committed by Randy Mackay
parent 2c80c702bc
commit 3bac3618e1
2 changed files with 14 additions and 0 deletions
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12
ArduCopter/autoyaw.cpp
View File

@ -149,6 +149,18 @@ void Mode::AutoYaw::set_yaw_angle_rate(float yaw_angle_d, float yaw_rate_ds)
set_mode(Mode::ANGLE_RATE); set_mode(Mode::ANGLE_RATE);
} }
// set_yaw_angle_offset - sets the yaw look at heading for auto mode, as an offset from the current yaw angle
void Mode::AutoYaw::set_yaw_angle_offset(const float yaw_angle_offset_d)
{
_last_update_ms = millis();
_yaw_angle_cd = wrap_360_cd(_yaw_angle_cd + (yaw_angle_offset_d * 100.0));
_yaw_rate_cds = 0.0f;
// set yaw mode
set_mode(Mode::ANGLE_RATE);
}
// set_roi - sets the yaw to look at roi for auto mode // set_roi - sets the yaw to look at roi for auto mode
void Mode::AutoYaw::set_roi(const Location &roi_location) void Mode::AutoYaw::set_roi(const Location &roi_location)
{ {

2
ArduCopter/mode.h
View File

@ -335,6 +335,8 @@ public:
void set_yaw_angle_rate(float yaw_angle_d, float yaw_rate_ds); void set_yaw_angle_rate(float yaw_angle_d, float yaw_rate_ds);
void set_yaw_angle_offset(const float yaw_angle_offset_d);
bool reached_fixed_yaw_target(); bool reached_fixed_yaw_target();
#if WEATHERVANE_ENABLED #if WEATHERVANE_ENABLED