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ArduCopter: allow GUIDED mode roll-pitch, yaw and throttle control modes to be overridden

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This commit is contained in:
rmackay9 2012-12-12 23:28:26 +09:00
parent 31fd9a22a3
commit 8d75022d58
2 changed files with 16 additions and 3 deletions
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13
ArduCopter/config.h
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@ -561,6 +561,19 @@
# define AUTO_THR THROTTLE_AUTO # define AUTO_THR THROTTLE_AUTO
#endif #endif
// Guided Mode
#ifndef GUIDED_YAW
# define GUIDED_YAW YAW_LOOK_AT_NEXT_WP
#endif
#ifndef GUIDED_RP
# define GUIDED_RP ROLL_PITCH_AUTO
#endif
#ifndef GUIDED_THR
# define GUIDED_THR THROTTLE_AUTO
#endif
// CIRCLE Mode // CIRCLE Mode
#ifndef CIRCLE_YAW #ifndef CIRCLE_YAW
# define CIRCLE_YAW YAW_LOOK_AT_NEXT_WP # define CIRCLE_YAW YAW_LOOK_AT_NEXT_WP

6
ArduCopter/system.pde
View File

@ -506,9 +506,9 @@ static void set_mode(byte mode)
case GUIDED: case GUIDED:
ap.manual_throttle = false; ap.manual_throttle = false;
ap.manual_attitude = false; ap.manual_attitude = false;
set_yaw_mode(YAW_LOOK_AT_NEXT_WP); set_yaw_mode(GUIDED_YAW);
set_roll_pitch_mode(ROLL_PITCH_AUTO); set_roll_pitch_mode(GUIDED_RP);
set_throttle_mode(THROTTLE_AUTO); set_throttle_mode(GUIDED_THR);
next_WP = current_loc; next_WP = current_loc;
set_next_WP(&guided_WP); set_next_WP(&guided_WP);
break; break;