Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

changed yaw reset to when armed to not use initial_simple_bearing

This commit is contained in:
Dr Gareth Owen 2013-05-30 17:11:47 +01:00 committed by Randy Mackay
parent 79bd8b4fd0
commit 4c6d6ea96e
2 changed files with 7 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/ArduCopter.pde
View File

@ -535,6 +535,10 @@ static float sin_pitch;
// or in SuperSimple mode when the copter leaves a 20m radius from home. // or in SuperSimple mode when the copter leaves a 20m radius from home.
static int32_t initial_simple_bearing; static int32_t initial_simple_bearing;
// Stores initial bearing when armed - initial simple bearing is modified in super simple mode so not suitable
static int32_t initial_armed_bearing;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Rate contoller targets // Rate contoller targets
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -1523,7 +1527,7 @@ void update_yaw_mode(void)
case YAW_RESETTOARMEDYAW: case YAW_RESETTOARMEDYAW:
// changes yaw to be same as when quad was armed // changes yaw to be same as when quad was armed
nav_yaw = get_yaw_slew(nav_yaw, initial_simple_bearing, AUTO_YAW_SLEW_RATE); nav_yaw = get_yaw_slew(nav_yaw, initial_armed_bearing, AUTO_YAW_SLEW_RATE);
get_stabilize_yaw(nav_yaw); get_stabilize_yaw(nav_yaw);
// if there is any pilot input, switch to YAW_HOLD mode for the next iteration // if there is any pilot input, switch to YAW_HOLD mode for the next iteration

2
ArduCopter/motors.pde
View File

@ -136,6 +136,8 @@ static void init_arm_motors()
// -------------------- // --------------------
init_simple_bearing(); init_simple_bearing();
initial_armed_bearing = ahrs.yaw_sensor;
// Reset home position // Reset home position
// ------------------- // -------------------
if(ap.home_is_set) if(ap.home_is_set)