mirror of https://github.com/ArduPilot/ardupilot
Arducopter: Yaw stop fix
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@ -1511,13 +1511,12 @@ void update_yaw_mode(void)
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g.rc_4.servo_out = get_acro_yaw(g.rc_4.control_in);
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yaw_stopped = false;
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yaw_timer = 150;
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}else if (!yaw_stopped){
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g.rc_4.servo_out = get_acro_yaw(0);
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yaw_timer--;
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if ( abs(omega.z * DEGX100) < 1000 ){
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yaw_stopped = true;
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}
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if(yaw_timer == 0){
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if((yaw_timer == 0) || (fabs(omega.z) < .17)){
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yaw_stopped = true;
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nav_yaw = ahrs.yaw_sensor;
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}
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