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Copter: YAW_MODE judgment does everything

This commit is contained in:
murata 2021-09-25 09:54:05 +09:00 committed by Randy Mackay
parent 0038b8edd7
commit b8456f7b89
1 changed files with 6 additions and 0 deletions
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6
ArduCopter/autoyaw.cpp
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@ -61,6 +61,9 @@ void Mode::AutoYaw::set_mode(autopilot_yaw_mode yaw_mode)
// perform initialisation
switch (_mode) {
case AUTO_YAW_HOLD:
break;
case AUTO_YAW_LOOK_AT_NEXT_WP:
// wpnav will initialise heading when wpnav's set_destination method is called
break;
@ -83,6 +86,9 @@ void Mode::AutoYaw::set_mode(autopilot_yaw_mode yaw_mode)
// initial_armed_bearing will be set during arming so no init required
break;
case AUTO_YAW_ANGLE_RATE:
break;
case AUTO_YAW_RATE:
// initialise target yaw rate to zero
_yaw_rate_cds = 0.0f;