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Copter: Keep FIXED mode when WP_YAW_BEHAVIOR is NONE

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This commit is contained in:
Tatsuya Yamaguchi 2024-09-26 14:24:53 +09:00 committed by Randy Mackay
parent 77f1efac5e
commit 63663303de
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/mode_auto.cpp
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@ -449,7 +449,7 @@ bool ModeAuto::wp_start(const Location& dest_loc)
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
if (auto_yaw.mode() != AutoYaw::Mode::ROI) {
if (auto_yaw.mode() != AutoYaw::Mode::ROI && !(auto_yaw.mode() == AutoYaw::Mode::FIXED && copter.g.wp_yaw_behavior == WP_YAW_BEHAVIOR_NONE)) {
auto_yaw.set_mode_to_default(false);
}
@ -1804,7 +1804,7 @@ void ModeAuto::do_spline_wp(const AP_Mission::Mission_Command& cmd)
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
if (auto_yaw.mode() != AutoYaw::Mode::ROI) {
if (auto_yaw.mode() != AutoYaw::Mode::ROI && !(auto_yaw.mode() == AutoYaw::Mode::FIXED && copter.g.wp_yaw_behavior == WP_YAW_BEHAVIOR_NONE)) {
auto_yaw.set_mode_to_default(false);
}