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Sub: fix missing _dz in get_pilot_desired_yaw_rate()

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This commit is contained in:
Willian Galvani 2022-12-01 18:24:51 -03:00
parent 65576b7895
commit f222b8bb59
4 changed files with 7 additions and 7 deletions
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4
ArduSub/control_auto.cpp
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@ -123,7 +123,7 @@ void Sub::auto_wp_run()
float target_yaw_rate = 0; float target_yaw_rate = 0;
if (!failsafe.pilot_input) { if (!failsafe.pilot_input) {
// get pilot's desired yaw rate // get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input()) * 100; target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz()) * 100;
if (!is_zero(target_yaw_rate)) { if (!is_zero(target_yaw_rate)) {
set_auto_yaw_mode(AUTO_YAW_HOLD); set_auto_yaw_mode(AUTO_YAW_HOLD);
} }
@ -313,7 +313,7 @@ void Sub::auto_loiter_run()
// accept pilot input of yaw // accept pilot input of yaw
float target_yaw_rate = 0; float target_yaw_rate = 0;
if (!failsafe.pilot_input) { if (!failsafe.pilot_input) {
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input()) * 100; target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz()) * 100;
} }
// set motors to full range // set motors to full range

2
ArduSub/control_circle.cpp
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@ -48,7 +48,7 @@ void Sub::circle_run()
// process pilot inputs // process pilot inputs
// get pilot's desired yaw rate // get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input()) * 100; target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz()) * 100;
if (!is_zero(target_yaw_rate)) { if (!is_zero(target_yaw_rate)) {
circle_pilot_yaw_override = true; circle_pilot_yaw_override = true;
} }

6
ArduSub/control_guided.cpp
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@ -296,7 +296,7 @@ void Sub::guided_pos_control_run()
float target_yaw_rate = 0; float target_yaw_rate = 0;
if (!failsafe.pilot_input) { if (!failsafe.pilot_input) {
// get pilot's desired yaw rate // get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input()) * 100; target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz()) * 100;
if (!is_zero(target_yaw_rate)) { if (!is_zero(target_yaw_rate)) {
set_auto_yaw_mode(AUTO_YAW_HOLD); set_auto_yaw_mode(AUTO_YAW_HOLD);
} }
@ -349,7 +349,7 @@ void Sub::guided_vel_control_run()
float target_yaw_rate = 0; float target_yaw_rate = 0;
if (!failsafe.pilot_input) { if (!failsafe.pilot_input) {
// get pilot's desired yaw rate // get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input()) * 100; target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz()) * 100;
if (!is_zero(target_yaw_rate)) { if (!is_zero(target_yaw_rate)) {
set_auto_yaw_mode(AUTO_YAW_HOLD); set_auto_yaw_mode(AUTO_YAW_HOLD);
} }
@ -407,7 +407,7 @@ void Sub::guided_posvel_control_run()
if (!failsafe.pilot_input) { if (!failsafe.pilot_input) {
// get pilot's desired yaw rate // get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input()) * 100; target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz()) * 100;
if (!is_zero(target_yaw_rate)) { if (!is_zero(target_yaw_rate)) {
set_auto_yaw_mode(AUTO_YAW_HOLD); set_auto_yaw_mode(AUTO_YAW_HOLD);
} }

2
ArduSub/control_surface.cpp
View File

@ -43,7 +43,7 @@ void Sub::surface_run()
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max); get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);
// get pilot's desired yaw rate // get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input()) * 100; target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz()) * 100;
// call attitude controller // call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate); attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);