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Plane: fixed reset of steering locked course 

reset when we have not been steering for 1s, to ensure that an old
locked course is not used
This commit is contained in:
Andrew Tridgell 2021-12-03 18:27:16 +11:00
parent 308f4e99b4
commit e342ce0da4
3 changed files with 10 additions and 0 deletions
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8
ArduPlane/Attitude.cpp
View File

@ -650,6 +650,13 @@ void Plane::calc_nav_yaw_ground(void)
return; return;
} }
// if we haven't been steering for 1s then clear locked course
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - steer_state.last_steer_ms > 1000) {
steer_state.locked_course = false;
}
steer_state.last_steer_ms = now_ms;
float steer_rate = (rudder_input()/4500.0f) * g.ground_steer_dps; float steer_rate = (rudder_input()/4500.0f) * g.ground_steer_dps;
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF ||
flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) { flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
@ -666,6 +673,7 @@ void Plane::calc_nav_yaw_ground(void)
steer_state.locked_course_err = 0; steer_state.locked_course_err = 0;
} }
} }
if (!steer_state.locked_course) { if (!steer_state.locked_course) {
// use a rate controller at the pilot specified rate // use a rate controller at the pilot specified rate
steering_control.steering = steerController.get_steering_out_rate(steer_rate); steering_control.steering = steerController.get_steering_out_rate(steer_rate);

1
ArduPlane/Plane.h
View File

@ -432,6 +432,7 @@ private:
// when ground steering is active, and for steering in auto-takeoff // when ground steering is active, and for steering in auto-takeoff
bool locked_course; bool locked_course;
float locked_course_err; float locked_course_err;
uint32_t last_steer_ms;
} steer_state; } steer_state;
// flight mode specific // flight mode specific

1
ArduPlane/mode.cpp
View File

@ -30,6 +30,7 @@ bool Mode::enter()
// zero locked course // zero locked course
plane.steer_state.locked_course_err = 0; plane.steer_state.locked_course_err = 0;
plane.steer_state.locked_course = false;
// reset crash detection // reset crash detection
plane.crash_state.is_crashed = false; plane.crash_state.is_crashed = false;