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Copter: fix MAV_CMD_CONDITION_YAW with relative angle when WP_YAW_BEHAVIOR = 0

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chobits tai 2024-06-17 09:30:41 +08:00 committed by Randy Mackay
parent 745e461992
commit 9631bcef1b
1 changed files with 3 additions and 0 deletions
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3
ArduCopter/autoyaw.cpp
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@ -110,6 +110,9 @@ void Mode::AutoYaw::set_fixed_yaw(float angle_deg, float turn_rate_ds, int8_t di
// calculate final angle as relative to vehicle heading or absolute // calculate final angle as relative to vehicle heading or absolute
if (relative_angle) { if (relative_angle) {
if (_mode == Mode::HOLD) {
_yaw_angle_cd = copter.ahrs.yaw_sensor;
}
_fixed_yaw_offset_cd = angle_deg * 100.0 * (direction >= 0 ? 1.0 : -1.0); _fixed_yaw_offset_cd = angle_deg * 100.0 * (direction >= 0 ? 1.0 : -1.0);
} else { } else {
// absolute angle // absolute angle