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AC_AttitudeControl: WeatherVane: defualt to 0 gain on plane and early return

This commit is contained in:
Iampete1 2022-03-08 21:47:15 +00:00 committed by Andrew Tridgell
parent 6fcf85edb8
commit 4386d748de
1 changed files with 5 additions and 3 deletions
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8
libraries/AC_AttitudeControl/AC_WeatherVane.cpp
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@ -10,10 +10,12 @@
#define WVANE_PARAM_ENABLED 1 #define WVANE_PARAM_ENABLED 1
#define WVANE_PARAM_SPD_MAX_DEFAULT 0 #define WVANE_PARAM_SPD_MAX_DEFAULT 0
#define WVANE_PARAM_VELZ_MAX_DEFAULT 0 #define WVANE_PARAM_VELZ_MAX_DEFAULT 0
#define WVANE_PARAM_GAIN_DEFAULT 0
#else #else
#define WVANE_PARAM_ENABLED 0 #define WVANE_PARAM_ENABLED 0
#define WVANE_PARAM_SPD_MAX_DEFAULT 2 #define WVANE_PARAM_SPD_MAX_DEFAULT 2
#define WVANE_PARAM_VELZ_MAX_DEFAULT 1 #define WVANE_PARAM_VELZ_MAX_DEFAULT 1
#define WVANE_PARAM_GAIN_DEFAULT 1
#endif #endif
@ -32,7 +34,7 @@ const AP_Param::GroupInfo AC_WeatherVane::var_info[] = {
// @Range: 0.5 4 // @Range: 0.5 4
// @Increment: 0.1 // @Increment: 0.1
// @User: Standard // @User: Standard
AP_GROUPINFO("GAIN", 2, AC_WeatherVane, _gain, 1.0), AP_GROUPINFO("GAIN", 2, AC_WeatherVane, _gain, WVANE_PARAM_GAIN_DEFAULT),
// @Param: ANG_MIN // @Param: ANG_MIN
// @DisplayName: Weathervaning min angle // @DisplayName: Weathervaning min angle
@ -98,8 +100,8 @@ AC_WeatherVane::AC_WeatherVane(void)
bool AC_WeatherVane::get_yaw_out(float &yaw_output, const int16_t pilot_yaw, const float hgt, const float roll_cdeg, const float pitch_cdeg, const bool is_takeoff, const bool is_landing) bool AC_WeatherVane::get_yaw_out(float &yaw_output, const int16_t pilot_yaw, const float hgt, const float roll_cdeg, const float pitch_cdeg, const bool is_takeoff, const bool is_landing)
{ {
Direction dir = (Direction)_direction.get(); Direction dir = (Direction)_direction.get();
if ((dir == Direction::OFF) || !allowed || (pilot_yaw != 0)) { if ((dir == Direction::OFF) || !allowed || (pilot_yaw != 0) || !is_positive(_gain)) {
// parameter disabled // parameter disabled, or 0 gain
// disabled temporarily // disabled temporarily
// dont't override pilot // dont't override pilot
reset(); reset();