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Copter: Guided Angle init Z controller on time out

This commit is contained in:
Leonard Hall 2021-07-10 10:55:19 +09:30 committed by Andrew Tridgell
parent 14cfcf18c2
commit 945af08fd0
1 changed files with 5 additions and 1 deletions
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4
ArduCopter/mode_guided.cpp
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@ -833,8 +833,12 @@ void ModeGuided::angle_control_run()
pitch_in = 0.0f; pitch_in = 0.0f;
climb_rate_cms = 0.0f; climb_rate_cms = 0.0f;
yaw_rate_in = 0.0f; yaw_rate_in = 0.0f;
if (guided_angle_state.use_thrust) {
// initialise vertical velocity controller
pos_control->init_z_controller();
guided_angle_state.use_thrust = false; guided_angle_state.use_thrust = false;
} }
}
// interpret positive climb rate or thrust as triggering take-off // interpret positive climb rate or thrust as triggering take-off
const bool positive_thrust_or_climbrate = is_positive(guided_angle_state.use_thrust ? guided_angle_state.thrust : climb_rate_cms); const bool positive_thrust_or_climbrate = is_positive(guided_angle_state.use_thrust ? guided_angle_state.thrust : climb_rate_cms);