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Copter: set_auto_yaw_look_at_heading takes bool for relative angle arg 

No functional change
This commit is contained in:
Randy Mackay 2017-07-11 14:04:58 +09:00
parent 9b05f1d9c7
commit 4c9e118ceb
4 changed files with 5 additions and 5 deletions
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2
ArduCopter/Copter.h
View File

@ -820,7 +820,7 @@ private:
void auto_loiter_run();
uint8_t get_default_auto_yaw_mode(bool rtl);
void set_auto_yaw_mode(uint8_t yaw_mode);
void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, uint8_t relative_angle);
void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, bool relative_angle);
void set_auto_yaw_roi(const Location &roi_location);
void set_auto_yaw_rate(float turn_rate_cds);
float get_auto_heading(void);

2
ArduCopter/GCS_Mavlink.cpp
View File

@ -1059,7 +1059,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
if ((packet.param1 >= 0.0f) &&
(packet.param1 <= 360.0f) &&
(is_zero(packet.param4) || is_equal(packet.param4,1.0f))) {
copter.set_auto_yaw_look_at_heading(packet.param1, packet.param2, (int8_t)packet.param3, (uint8_t)packet.param4);
copter.set_auto_yaw_look_at_heading(packet.param1, packet.param2, (int8_t)packet.param3, is_positive(packet.param4));
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;

2
ArduCopter/commands_logic.cpp
View File

@ -1014,7 +1014,7 @@ void Copter::do_yaw(const AP_Mission::Mission_Command& cmd)
cmd.content.yaw.angle_deg,
cmd.content.yaw.turn_rate_dps,
cmd.content.yaw.direction,
cmd.content.yaw.relative_angle);
cmd.content.yaw.relative_angle > 0);
}

4
ArduCopter/control_auto.cpp
View File

@ -653,13 +653,13 @@ void Copter::set_auto_yaw_mode(uint8_t yaw_mode)
}
// set_auto_yaw_look_at_heading - sets the yaw look at heading for auto mode
void Copter::set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, uint8_t relative_angle)
void Copter::set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, bool relative_angle)
{
// get current yaw target
int32_t curr_yaw_target = attitude_control->get_att_target_euler_cd().z;
// get final angle, 1 = Relative, 0 = Absolute
if (relative_angle == 0) {
if (!relative_angle) {
// absolute angle
yaw_look_at_heading = wrap_360_cd(angle_deg * 100);
} else {