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ArduCopter: guided auto_yaw_angle_rate timeout

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Josh Henderson 2021-07-29 03:52:01 -04:00 committed by Andrew Tridgell
parent 9ed2e35229
commit e02f0f049a
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/mode_guided.cpp
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@ -602,7 +602,7 @@ void ModeGuided::accel_control_run()
if (tnow - update_time_ms > get_timeout_ms()) { if (tnow - update_time_ms > get_timeout_ms()) {
guided_vel_target_cms.zero(); guided_vel_target_cms.zero();
guided_accel_target_cmss.zero(); guided_accel_target_cmss.zero();
if (auto_yaw.mode() == AUTO_YAW_RATE) { if ((auto_yaw.mode() == AUTO_YAW_RATE) || (auto_yaw.mode() == AUTO_YAW_ANGLE_RATE)) {
auto_yaw.set_rate(0.0f); auto_yaw.set_rate(0.0f);
} }
pos_control->input_vel_accel_xy(guided_vel_target_cms.xy(), guided_accel_target_cmss.xy()); pos_control->input_vel_accel_xy(guided_vel_target_cms.xy(), guided_accel_target_cmss.xy());
@ -665,7 +665,7 @@ void ModeGuided::velaccel_control_run()
if (tnow - update_time_ms > get_timeout_ms()) { if (tnow - update_time_ms > get_timeout_ms()) {
guided_vel_target_cms.zero(); guided_vel_target_cms.zero();
guided_accel_target_cmss.zero(); guided_accel_target_cmss.zero();
if (auto_yaw.mode() == AUTO_YAW_RATE) { if ((auto_yaw.mode() == AUTO_YAW_RATE) || (auto_yaw.mode() == AUTO_YAW_ANGLE_RATE)) {
auto_yaw.set_rate(0.0f); auto_yaw.set_rate(0.0f);
} }
} }
@ -740,7 +740,7 @@ void ModeGuided::posvelaccel_control_run()
if (tnow - update_time_ms > get_timeout_ms()) { if (tnow - update_time_ms > get_timeout_ms()) {
guided_vel_target_cms.zero(); guided_vel_target_cms.zero();
guided_accel_target_cmss.zero(); guided_accel_target_cmss.zero();
if (auto_yaw.mode() == AUTO_YAW_RATE) { if ((auto_yaw.mode() == AUTO_YAW_RATE) || (auto_yaw.mode() == AUTO_YAW_ANGLE_RATE)) {
auto_yaw.set_rate(0.0f); auto_yaw.set_rate(0.0f);
} }
} }