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Sub: fully init yaw control on guided submode start

This commit is contained in:
Clyde McQueen 2024-09-14 20:14:44 -07:00 committed by Willian Galvani
parent 1038b458b5
commit 9cf63a5407
1 changed files with 4 additions and 0 deletions
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4
ArduSub/mode_guided.cpp
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@ -93,6 +93,7 @@ void ModeGuided::guided_pos_control_start()
sub.wp_nav.set_wp_destination(stopping_point, false); sub.wp_nav.set_wp_destination(stopping_point, false);
// initialise yaw // initialise yaw
sub.yaw_rate_only = false;
set_auto_yaw_mode(get_default_auto_yaw_mode(false)); set_auto_yaw_mode(get_default_auto_yaw_mode(false));
} }
@ -111,6 +112,7 @@ void ModeGuided::guided_vel_control_start()
position_control->init_xy_controller(); position_control->init_xy_controller();
// pilot always controls yaw // pilot always controls yaw
sub.yaw_rate_only = false;
set_auto_yaw_mode(AUTO_YAW_HOLD); set_auto_yaw_mode(AUTO_YAW_HOLD);
} }
@ -129,6 +131,7 @@ void ModeGuided::guided_posvel_control_start()
position_control->init_xy_controller(); position_control->init_xy_controller();
// pilot always controls yaw // pilot always controls yaw
sub.yaw_rate_only = false;
set_auto_yaw_mode(AUTO_YAW_HOLD); set_auto_yaw_mode(AUTO_YAW_HOLD);
} }
@ -153,6 +156,7 @@ void ModeGuided::guided_angle_control_start()
guided_angle_state.climb_rate_cms = 0.0f; guided_angle_state.climb_rate_cms = 0.0f;
// pilot always controls yaw // pilot always controls yaw
sub.yaw_rate_only = false;
set_auto_yaw_mode(AUTO_YAW_HOLD); set_auto_yaw_mode(AUTO_YAW_HOLD);
} }