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ArduCopter: bug fix to reset yaw target when zero and when in stabilize or acro mode.

This commit is contained in:
rmackay9 2012-08-01 12:15:02 +09:00
parent 176e6fdd68
commit c091c8e0e6
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/ArduCopter.pde
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@ -1591,7 +1591,7 @@ void update_yaw_mode(void)
}else{ }else{
// reset target yaw to current yaw if the motors are disarmed or throttle is zero // reset target yaw to current yaw if the motors are disarmed or throttle is zero
// Note: we do not want to reset yaw if failsafe has been triggered even though throttle maybe zero (in fact, normally throttle is zero in failsafe) // Note: we do not want to reset yaw if failsafe has been triggered even though throttle maybe zero (in fact, normally throttle is zero in failsafe)
if(motors.armed() == false || (g.rc_3.control_in == 0 && !failsafe) ) if(motors.armed() == false || ((g.rc_3.control_in == 0) && (control_mode <= ACRO) && !failsafe))
nav_yaw = ahrs.yaw_sensor; nav_yaw = ahrs.yaw_sensor;
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw); g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);