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Blimp: Guided Yaw Fix

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Leonard Hall 2023-03-04 19:17:05 +10:30 committed by Randy Mackay
parent 715bb6e705
commit bfbc76e172
1 changed files with 6 additions and 9 deletions
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15
Blimp/mode.h
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@ -116,10 +116,6 @@ public:
{ {
public: public:
// yaw(): main product of AutoYaw; the heading:
float yaw();
// mode(): current method of determining desired yaw: // mode(): current method of determining desired yaw:
autopilot_yaw_mode mode() const autopilot_yaw_mode mode() const
{ {
@ -129,8 +125,6 @@ public:
void set_mode(autopilot_yaw_mode new_mode); void set_mode(autopilot_yaw_mode new_mode);
autopilot_yaw_mode default_mode(bool rtl) const; 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); void set_rate(float new_rate_cds);
// set_roi(...): set a "look at" location: // set_roi(...): set a "look at" location:
@ -143,6 +137,12 @@ public:
private: 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 look_ahead_yaw();
float roi_yaw(); float roi_yaw();
@ -164,9 +164,6 @@ public:
// heading when in yaw_look_ahead_yaw // heading when in yaw_look_ahead_yaw
float _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: // used to reduce update rate to 100hz:
uint8_t roi_yaw_counter; uint8_t roi_yaw_counter;