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Copter: integrate slew_yaw into control_auto

This commit is contained in:
Randy Mackay 2014-02-03 13:30:55 +09:00 committed by Andrew Tridgell
parent 37cfbc9ad5
commit d3a126d078
5 changed files with 7 additions and 7 deletions
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4
ArduCopter/control_auto.pde
View File

@ -157,7 +157,7 @@ static void auto_wp_run()
attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
}else{ }else{
// roll, pitch from waypoint controller, yaw heading from auto_heading() // roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading()); attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
} }
// refetch angle targets for reporting // refetch angle targets for reporting
@ -267,7 +267,7 @@ void auto_circle_run()
pos_control.update_z_controller(); pos_control.update_z_controller();
// roll & pitch from waypoint controller, yaw rate from pilot // roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.angleef_rpy(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw()); attitude_control.angleef_rpy(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true);
// refetch angle targets for reporting // refetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets(); const Vector3f angle_target = attitude_control.angle_ef_targets();

2
ArduCopter/control_circle.pde
View File

@ -58,7 +58,7 @@ static void circle_run()
if (circle_pilot_yaw_override) { if (circle_pilot_yaw_override) {
attitude_control.angleef_rp_rateef_y(circle_nav.get_roll(), circle_nav.get_pitch(), target_yaw_rate); attitude_control.angleef_rp_rateef_y(circle_nav.get_roll(), circle_nav.get_pitch(), target_yaw_rate);
}else{ }else{
attitude_control.angleef_rpy(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw()); attitude_control.angleef_rpy(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true);
} }
// run altitude controller // run altitude controller

2
ArduCopter/control_flip.pde
View File

@ -143,7 +143,7 @@ static void flip_run()
case Flip_Recover: case Flip_Recover:
// use originally captured earth-frame angle targets to recover // use originally captured earth-frame angle targets to recover
attitude_control.angleef_rpy(curr_ef_targets.x, curr_ef_targets.y, curr_ef_targets.z); attitude_control.angleef_rpy(curr_ef_targets.x, curr_ef_targets.y, curr_ef_targets.z,false);
// increase throttle to gain any lost alitude // increase throttle to gain any lost alitude
throttle_out += FLIP_THR_INC; throttle_out += FLIP_THR_INC;

2
ArduCopter/control_guided.pde
View File

@ -86,7 +86,7 @@ static void guided_run()
attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
}else{ }else{
// roll, pitch from waypoint controller, yaw heading from auto_heading() // roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading()); attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
} }
// re-fetch angle targets for reporting // re-fetch angle targets for reporting

4
ArduCopter/control_rtl.pde
View File

@ -156,7 +156,7 @@ static void rtl_climb_return_descent_run()
attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
}else{ }else{
// roll, pitch from waypoint controller, yaw heading from auto_heading() // roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading()); attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
} }
// check if we've completed this stage of RTL // check if we've completed this stage of RTL
@ -219,7 +219,7 @@ static void rtl_loiterathome_run()
attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
}else{ }else{
// roll, pitch from waypoint controller, yaw heading from auto_heading() // roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading()); attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
} }
// check if we've completed this stage of RTL // check if we've completed this stage of RTL