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ArduCopter: respect yaw orientation on LAND

This commit is contained in:
Pierre Kancir 2018-05-30 19:01:52 +02:00 committed by Randy Mackay
parent 1c04a91efb
commit 99e04e5861
1 changed files with 10 additions and 2 deletions
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12
ArduCopter/mode.cpp
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@ -486,6 +486,9 @@ void Copter::Mode::land_run_horizontal_control()
// get pilot's desired yaw rate
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);
}
}
#if PRECISION_LANDING == ENABLED
@ -537,9 +540,14 @@ void Copter::Mode::land_run_horizontal_control()
}
}
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(nav_roll, nav_pitch, target_yaw_rate);
if (auto_yaw.mode() == AUTO_YAW_HOLD) {
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(nav_roll, nav_pitch, target_yaw_rate);
} else {
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control->input_euler_angle_roll_pitch_yaw(nav_roll, nav_pitch, auto_yaw.yaw(), true);
}
}
// pass-through functions to reduce code churn on conversion;