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Copter: reset yaw angle target when disarmed or landed in AltHold

This commit is contained in:
Randy Mackay 2015-07-16 13:20:05 +09:00
parent 157c97447d
commit 908afad65c
1 changed files with 2 additions and 14 deletions
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16
ArduCopter/control_althold.cpp
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@ -46,20 +46,6 @@ void Copter::althold_run()
#if FRAME_CONFIG == HELI_FRAME
// helicopters are held on the ground until rotor speed runup has finished
bool takeoff_triggered = (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()) && motors.rotor_runup_complete());
if(!motors.armed()) {
heli_flags.init_targets_on_arming=true;
attitude_control.set_yaw_target_to_current_heading();
}
// if we have recently armed and rotor is just ramping up speed, relax yaw controller
if(motors.armed() && heli_flags.init_targets_on_arming) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
if (motors.rotor_speed_above_critical()) {
heli_flags.init_targets_on_arming=false;
}
}
#else
bool takeoff_triggered = (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()));
#endif
@ -81,6 +67,7 @@ void Copter::althold_run()
case AltHold_Disarmed:
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
attitude_control.set_yaw_target_to_current_heading();
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
@ -116,6 +103,7 @@ void Copter::althold_run()
case AltHold_Landed:
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
attitude_control.set_yaw_target_to_current_heading();
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);