Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 15:53:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: Guided: use default yaw mode for all gps based sub modes.

Browse Source
This commit is contained in:
Leonard Hall 2021-07-09 14:57:54 +09:30 committed by Randy Mackay
parent 30dc6f86a4
commit c6e932c9cf
1 changed files with 3 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
ArduCopter/mode_guided.cpp
View File

@ -153,6 +153,9 @@ void ModeGuided::pva_control_start()
// initialise velocity controller // initialise velocity controller
pos_control->init_z_controller(); pos_control->init_z_controller();
pos_control->init_xy_controller(); pos_control->init_xy_controller();
// initialise yaw
auto_yaw.set_mode_to_default(false);
} }
// initialise guided mode's position controller // initialise guided mode's position controller
@ -163,9 +166,6 @@ void ModeGuided::pos_control_start()
// initialise position controller // initialise position controller
pva_control_start(); pva_control_start();
// initialise yaw
auto_yaw.set_mode_to_default(false);
} }
// initialise guided mode's velocity controller // initialise guided mode's velocity controller
@ -176,9 +176,6 @@ void ModeGuided::accel_control_start()
// initialise position controller // initialise position controller
pva_control_start(); pva_control_start();
// pilot always controls yaw
auto_yaw.set_mode(AUTO_YAW_HOLD);
} }
// initialise guided mode's velocity and acceleration controller // initialise guided mode's velocity and acceleration controller
@ -189,9 +186,6 @@ void ModeGuided::velaccel_control_start()
// initialise position controller // initialise position controller
pva_control_start(); pva_control_start();
// pilot always controls yaw
auto_yaw.set_mode(AUTO_YAW_HOLD);
} }
// initialise guided mode's position, velocity and acceleration controller // initialise guided mode's position, velocity and acceleration controller
@ -202,9 +196,6 @@ void ModeGuided::posvelaccel_control_start()
// initialise position controller // initialise position controller
pva_control_start(); pva_control_start();
// pilot always controls yaw
auto_yaw.set_mode(AUTO_YAW_HOLD);
} }
bool ModeGuided::is_taking_off() const bool ModeGuided::is_taking_off() const