mirror of https://github.com/ArduPilot/ardupilot
Plane: fixed yaw rate tuning in AUTOTUNE mode
don't reset yaw rate controller continuously while we are trying to use it
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@ -607,6 +607,7 @@ void Plane::calc_nav_yaw_coordinated(float speed_scaler)
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int16_t rudder_in = rudder_input();
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int16_t commanded_rudder;
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bool using_rate_controller = false;
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// Received an external msg that guides yaw in the last 3 seconds?
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if (control_mode->is_guided_mode() &&
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@ -618,6 +619,7 @@ void Plane::calc_nav_yaw_coordinated(float speed_scaler)
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const float rudd_expo = rudder_in_expo(true);
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const float yaw_rate = (rudd_expo/SERVO_MAX) * g.acro_yaw_rate;
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commanded_rudder = yawController.get_rate_out(yaw_rate, speed_scaler, false);
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using_rate_controller = true;
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} else {
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if (control_mode == &mode_stabilize && rudder_in != 0) {
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disable_integrator = true;
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@ -631,6 +633,13 @@ void Plane::calc_nav_yaw_coordinated(float speed_scaler)
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}
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steering_control.rudder = constrain_int16(commanded_rudder, -4500, 4500);
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if (!using_rate_controller) {
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/*
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When not running the yaw rate controller, we need to reset the rate
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*/
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yawController.reset_rate_PID();
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}
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}
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/*
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