From bfbc76e1728871374c1647b38967f31188c28434 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Sat, 4 Mar 2023 19:17:05 +1030 Subject: [PATCH] Blimp: Guided Yaw Fix --- Blimp/mode.h | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/Blimp/mode.h b/Blimp/mode.h index 81ef932059..ed9e60353f 100644 --- a/Blimp/mode.h +++ b/Blimp/mode.h @@ -116,10 +116,6 @@ public: { public: - - // yaw(): main product of AutoYaw; the heading: - float yaw(); - // mode(): current method of determining desired yaw: autopilot_yaw_mode mode() const { @@ -129,8 +125,6 @@ public: void set_mode(autopilot_yaw_mode new_mode); autopilot_yaw_mode default_mode(bool rtl) const; - // rate_cds(): desired yaw rate in centidegrees/second: - float rate_cds() const; void set_rate(float new_rate_cds); // set_roi(...): set a "look at" location: @@ -143,6 +137,12 @@ public: private: + // yaw_cd(): main product of AutoYaw; the heading: + float yaw_cd(); + + // rate_cds(): desired yaw rate in centidegrees/second: + float rate_cds(); + float look_ahead_yaw(); float roi_yaw(); @@ -164,9 +164,6 @@ public: // heading when in yaw_look_ahead_yaw float _look_ahead_yaw; - // turn rate (in cds) when auto_yaw_mode is set to AUTO_YAW_RATE - float _rate_cds; - // used to reduce update rate to 100hz: uint8_t roi_yaw_counter;