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Copter: guided takeoff supports autoyaw

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allows both pilot controlled and externally controlled yaw control
This commit is contained in:
Randy Mackay 2021-09-17 18:52:35 +09:00
parent c23b7fdbd7
commit 944920610f
1 changed files with 14 additions and 2 deletions
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16
ArduCopter/takeoff.cpp
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@ -111,6 +111,9 @@ void Mode::auto_takeoff_run()
if (!copter.failsafe.radio && copter.flightmode->use_pilot_yaw()) { if (!copter.failsafe.radio && copter.flightmode->use_pilot_yaw()) {
// get pilot's desired yaw rate // get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
} }
// aircraft stays in landed state until rotor speed runup has finished // aircraft stays in landed state until rotor speed runup has finished
@ -153,8 +156,17 @@ void Mode::auto_takeoff_run()
// run the vertical position controller and set output throttle // run the vertical position controller and set output throttle
copter.pos_control->update_z_controller(); copter.pos_control->update_z_controller();
// roll & pitch from waypoint controller, yaw rate from pilot // call attitude controller
attitude_control->input_thrust_vector_rate_heading(thrustvector, target_yaw_rate); if (auto_yaw.mode() == AUTO_YAW_HOLD) {
// roll & pitch from position controller, yaw rate from pilot
attitude_control->input_thrust_vector_rate_heading(thrustvector, target_yaw_rate);
} else if (auto_yaw.mode() == AUTO_YAW_RATE) {
// roll & pitch from position controller, yaw rate from mavlink command or mission item
attitude_control->input_thrust_vector_rate_heading(thrustvector, auto_yaw.rate_cds());
} else {
// roll & pitch from position controller, yaw heading from GCS or auto_heading()
attitude_control->input_thrust_vector_heading(thrustvector, auto_yaw.yaw(), auto_yaw.rate_cds());
}
} }
void Mode::auto_takeoff_set_start_alt(void) void Mode::auto_takeoff_set_start_alt(void)