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Plane: Allow yaw at zero throttle in VTOL descents

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Hwurzburg 2021-07-14 19:16:50 -05:00 committed by Andrew Tridgell
parent d158199a7a
commit 19213d3627
1 changed files with 2 additions and 3 deletions
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5
ArduPlane/quadplane.cpp
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@ -1571,7 +1571,7 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && (air_mode == AirMode::ON);
if (!manual_air_mode &&
plane.get_throttle_input() <= 0 && !plane.control_mode->does_auto_throttle() &&
plane.arming.get_rudder_arming_type() != AP_Arming::RudderArming::IS_DISABLED) {
plane.arming.get_rudder_arming_type() != AP_Arming::RudderArming::IS_DISABLED && !(inertial_nav.get_velocity_z() < -0.5 * get_pilot_velocity_z_max_dn())) {
// the user may be trying to disarm
return 0;
}
@ -1604,13 +1604,12 @@ float QuadPlane::get_desired_yaw_rate_cds(void)
yaw_cds += desired_auto_yaw_rate_cds();
}
bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && (air_mode == AirMode::ON);
if (plane.get_throttle_input() <= 0 && !plane.control_mode->does_auto_throttle() && !manual_air_mode) {
if (plane.get_throttle_input() <= 0 && !plane.control_mode->does_auto_throttle() && !manual_air_mode && !(inertial_nav.get_velocity_z() < -0.5 * get_pilot_velocity_z_max_dn())) {
// the user may be trying to disarm
return 0;
}
// add in pilot input
yaw_cds += get_pilot_input_yaw_rate_cds();
// add in weathervaning
yaw_cds += get_weathervane_yaw_rate_cds();