Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-24 17:48:35 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: don't yaw quad when disarming

Browse Source
This commit is contained in:
Andrew Tridgell 2016-01-02 15:16:31 +11:00
parent ecd7d53cfc
commit f5a15fb7c5
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduPlane/quadplane.cpp
View File

@ -546,6 +546,10 @@ float QuadPlane::get_pilot_desired_yaw_rate_cds(void)
// use bank angle to get desired yaw rate // use bank angle to get desired yaw rate
return desired_yaw_rate_cds(); return desired_yaw_rate_cds();
} }
if (plane.channel_throttle->control_in <= 0) {
// the user may be trying to disarm
return 0;
}
const float yaw_rate_max_dps = 100; const float yaw_rate_max_dps = 100;
return plane.channel_rudder->norm_input() * 100 * yaw_rate_max_dps; return plane.channel_rudder->norm_input() * 100 * yaw_rate_max_dps;
} }