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Fixed Yaw for Auto mode.

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This commit is contained in:
Jason Short 2011-09-20 22:59:23 -07:00
parent 81a37b3acd
commit 79c41fa9e2
2 changed files with 6 additions and 4 deletions
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1
ArduCopter/ArduCopter.pde
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@ -1409,6 +1409,7 @@ static void update_auto_yaw()
}else if(yaw_tracking == MAV_ROI_WPNEXT){
auto_yaw = target_bearing;
}
// MAV_ROI_NONE = basic Yaw hold
}
static long point_at_home_yaw()

9
ArduCopter/commands_logic.pde
View File

@ -493,13 +493,13 @@ static void do_yaw()
// if unspecified go counterclockwise
if(command_yaw_dir == 0)
command_yaw_dir = -1;
else
command_yaw_dir = 1;
if (command_yaw_relative){
if (command_yaw_relative == 1){
// relative
//command_yaw_dir = (command_yaw_end > 0) ? 1 : -1;
//command_yaw_end += nav_yaw;
//command_yaw_end = wrap_360(command_yaw_end);
command_yaw_delta = next_command.alt * 100;
}else{
// absolute
command_yaw_end = next_command.alt * 100;
@ -588,6 +588,7 @@ static bool verify_yaw()
nav_yaw = command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir);
nav_yaw = wrap_360(nav_yaw);
auto_yaw = nav_yaw;
//Serial.printf("ny %ld\n",nav_yaw);
return false;
}