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Copter: Guided: use default yaw mode for all gps based sub modes.

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This commit is contained in:
Leonard Hall 2021-07-09 14:57:54 +09:30 committed by Randy Mackay
parent 8f626623d8
commit 767e50eaa2
1 changed files with 3 additions and 12 deletions
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15
ArduCopter/mode_guided.cpp
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@ -153,6 +153,9 @@ void ModeGuided::pva_control_start()
// initialise velocity controller
pos_control->init_z_controller();
pos_control->init_xy_controller();
// initialise yaw
auto_yaw.set_mode_to_default(false);
}
// initialise guided mode's position controller
@ -163,9 +166,6 @@ void ModeGuided::pos_control_start()
// initialise position controller
pva_control_start();
// initialise yaw
auto_yaw.set_mode_to_default(false);
}
// initialise guided mode's velocity controller
@ -176,9 +176,6 @@ void ModeGuided::accel_control_start()
// initialise position controller
pva_control_start();
// pilot always controls yaw
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
// initialise guided mode's velocity and acceleration controller
@ -189,9 +186,6 @@ void ModeGuided::velaccel_control_start()
// initialise position controller
pva_control_start();
// pilot always controls yaw
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
// initialise guided mode's position, velocity and acceleration controller
@ -202,9 +196,6 @@ void ModeGuided::posvelaccel_control_start()
// initialise position controller
pva_control_start();
// pilot always controls yaw
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
bool ModeGuided::is_taking_off() const