mirror of https://github.com/ArduPilot/ardupilot
APM: fixed wheeled takeoff with Jons new controllers
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@ -173,20 +173,21 @@ static void calc_throttle()
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// ----------------------------------------------------------------------------------------
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// ----------------------------------------------------------------------------------------
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static void calc_nav_yaw(float speed_scaler, float ch4_inf)
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static void calc_nav_yaw(float speed_scaler, float ch4_inf)
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{
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{
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if (hold_course != -1) {
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// steering on or close to ground
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g.channel_rudder.servo_out = g.pidWheelSteer.get_pid(bearing_error_cd) + g.kff_rudder_mix * g.channel_roll.servo_out;
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return;
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}
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#if APM_CONTROL == DISABLED
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#if APM_CONTROL == DISABLED
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// always do rudder mixing from roll
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// always do rudder mixing from roll
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g.channel_rudder.servo_out = g.kff_rudder_mix * g.channel_roll.servo_out;
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g.channel_rudder.servo_out = g.kff_rudder_mix * g.channel_roll.servo_out;
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if (hold_course != -1) {
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// a PID to coordinate the turn (drive y axis accel to zero)
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// steering on or close to ground
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Vector3f temp = imu.get_accel();
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g.channel_rudder.servo_out += g.pidWheelSteer.get_pid(bearing_error_cd);
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int32_t error = -temp.y*100.0;
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} else {
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// a PID to coordinate the turn (drive y axis accel to zero)
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Vector3f temp = imu.get_accel();
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int32_t error = -temp.y*100.0;
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g.channel_rudder.servo_out += g.pidServoRudder.get_pid(error, speed_scaler);
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g.channel_rudder.servo_out += g.pidServoRudder.get_pid(error, speed_scaler);
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}
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#else // APM_CONTROL == ENABLED
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#else // APM_CONTROL == ENABLED
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// use the new APM_Control library
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// use the new APM_Control library
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g.channel_rudder.servo_out = g.yawController.get_servo_out(speed_scaler, ch4_inf < 0.25) + g.channel_roll.servo_out * g.kff_rudder_mix;
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g.channel_rudder.servo_out = g.yawController.get_servo_out(speed_scaler, ch4_inf < 0.25) + g.channel_roll.servo_out * g.kff_rudder_mix;
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