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AC_Attitude:add TKOFF/LAND only weathervane option

This commit is contained in:
Henry Wurzburg 2023-02-27 07:38:37 -06:00 committed by Peter Barker
parent befcba61fa
commit 762e709f73
2 changed files with 5 additions and 2 deletions
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6
libraries/AC_AttitudeControl/AC_WeatherVane.cpp
View File

@ -24,7 +24,7 @@ const AP_Param::GroupInfo AC_WeatherVane::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable
// @Description: Enable weather vaning. When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands overide the weathervaning action.
// @Values: 0:Disabled,1:Nose into wind,2:Nose or tail into wind,3:Side into wind,4:tail into wind
// @Values: -1:Only use during takeoffs or landing see weathervane takeoff and land override parameters,0:Disabled,1:Nose into wind,2:Nose or tail into wind,3:Side into wind,4:tail into wind
// @User: Standard
AP_GROUPINFO_FLAGS("ENABLE", 1, AC_WeatherVane, _direction, WVANE_PARAM_ENABLED, AP_PARAM_FLAG_ENABLE),
@ -122,8 +122,9 @@ bool AC_WeatherVane::get_yaw_out(float &yaw_output, const int16_t pilot_yaw, con
if (is_landing && (_landing_direction >= 0)) {
dir = (Direction)_landing_direction.get();
}
if (dir == Direction::OFF) {
if (dir == Direction::OFF || (dir == Direction::TAKEOFF_OR_LAND_ONLY)) {
// Disabled for takeoff or landing
// Disabled if in flight and dir = -1
reset();
return false;
}
@ -172,6 +173,7 @@ bool AC_WeatherVane::get_yaw_out(float &yaw_output, const int16_t pilot_yaw, con
switch (dir) {
case Direction::OFF:
case Direction::TAKEOFF_OR_LAND_ONLY:
reset();
return false;

1
libraries/AC_AttitudeControl/AC_WeatherVane.h
View File

@ -24,6 +24,7 @@ class AC_WeatherVane {
// Different options for the direction that vehicle will turn into wind
enum class Direction {
TAKEOFF_OR_LAND_ONLY = -1,
OFF = 0,
NOSE_IN = 1, // Only nose into wind
NOSE_OR_TAIL_IN = 2, // Nose in or tail into wind, which ever is closest