mirror of https://github.com/ArduPilot/ardupilot
AC_AttitudeControl: WeatherVane: defualt to 0 gain on plane and early return
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@ -10,10 +10,12 @@
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#define WVANE_PARAM_ENABLED 1
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#define WVANE_PARAM_SPD_MAX_DEFAULT 0
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#define WVANE_PARAM_VELZ_MAX_DEFAULT 0
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#define WVANE_PARAM_GAIN_DEFAULT 0
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#else
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#define WVANE_PARAM_ENABLED 0
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#define WVANE_PARAM_SPD_MAX_DEFAULT 2
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#define WVANE_PARAM_VELZ_MAX_DEFAULT 1
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#define WVANE_PARAM_GAIN_DEFAULT 1
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#endif
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@ -32,7 +34,7 @@ const AP_Param::GroupInfo AC_WeatherVane::var_info[] = {
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// @Range: 0.5 4
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// @Increment: 0.1
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// @User: Standard
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AP_GROUPINFO("GAIN", 2, AC_WeatherVane, _gain, 1.0),
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AP_GROUPINFO("GAIN", 2, AC_WeatherVane, _gain, WVANE_PARAM_GAIN_DEFAULT),
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// @Param: ANG_MIN
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// @DisplayName: Weathervaning min angle
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@ -98,8 +100,8 @@ AC_WeatherVane::AC_WeatherVane(void)
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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)
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{
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Direction dir = (Direction)_direction.get();
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if ((dir == Direction::OFF) || !allowed || (pilot_yaw != 0)) {
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// parameter disabled
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if ((dir == Direction::OFF) || !allowed || (pilot_yaw != 0) || !is_positive(_gain)) {
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// parameter disabled, or 0 gain
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// disabled temporarily
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// dont't override pilot
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reset();
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