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Copter: update YAW_LOOK_AHEAD to use inav velocity direction

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Jonathan Challinger 2015-04-27 09:50:14 -07:00 committed by Randy Mackay
parent e5b6cf9966
commit f5fd89833d
1 changed files with 5 additions and 2 deletions
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7
ArduCopter/Attitude.pde
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@ -64,9 +64,12 @@ static float get_roi_yaw()
static float get_look_ahead_yaw() static float get_look_ahead_yaw()
{ {
const Vector3f& vel = inertial_nav.get_velocity();
float speed = pythagorous2(vel.x,vel.y);
// Commanded Yaw to automatically look ahead. // Commanded Yaw to automatically look ahead.
if (gps.status() >= AP_GPS::GPS_OK_FIX_2D && gps.ground_speed_cm() > YAW_LOOK_AHEAD_MIN_SPEED) { if (position_ok() && speed > YAW_LOOK_AHEAD_MIN_SPEED) {
yaw_look_ahead_bearing = gps.ground_course_cd();
yaw_look_ahead_bearing = degrees(atan2f(vel.y,vel.x))*100.0f;
} }
return yaw_look_ahead_bearing; return yaw_look_ahead_bearing;
} }