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Copter: ignore yaw input during radio failsafe

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This commit is contained in:
Randy Mackay 2013-12-06 13:50:07 +09:00
parent 22f07fb141
commit 3a7442165c
1 changed files with 15 additions and 8 deletions
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23
ArduCopter/ArduCopter.pde
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@ -1422,6 +1422,13 @@ bool set_yaw_mode(uint8_t new_yaw_mode)
// 100hz update rate // 100hz update rate
void update_yaw_mode(void) void update_yaw_mode(void)
{ {
int16_t pilot_yaw = g.rc_4.control_in;
// do not process pilot's yaw input during radio failsafe
if (failsafe.radio) {
pilot_yaw = 0;
}
switch(yaw_mode) { switch(yaw_mode) {
case YAW_HOLD: case YAW_HOLD:
@ -1430,12 +1437,12 @@ void update_yaw_mode(void)
nav_yaw = ahrs.yaw_sensor; nav_yaw = ahrs.yaw_sensor;
} }
// heading hold at heading held in nav_yaw but allow input from pilot // heading hold at heading held in nav_yaw but allow input from pilot
get_yaw_rate_stabilized_ef(g.rc_4.control_in); get_yaw_rate_stabilized_ef(pilot_yaw);
break; break;
case YAW_ACRO: case YAW_ACRO:
// pilot controlled yaw using rate controller // pilot controlled yaw using rate controller
get_yaw_rate_stabilized_bf(g.rc_4.control_in); get_yaw_rate_stabilized_bf(pilot_yaw);
break; break;
case YAW_LOOK_AT_NEXT_WP: case YAW_LOOK_AT_NEXT_WP:
@ -1450,7 +1457,7 @@ void update_yaw_mode(void)
get_stabilize_yaw(nav_yaw); get_stabilize_yaw(nav_yaw);
// if there is any pilot input, switch to YAW_HOLD mode for the next iteration // if there is any pilot input, switch to YAW_HOLD mode for the next iteration
if( g.rc_4.control_in != 0 ) { if (pilot_yaw != 0) {
set_yaw_mode(YAW_HOLD); set_yaw_mode(YAW_HOLD);
} }
break; break;
@ -1464,7 +1471,7 @@ void update_yaw_mode(void)
get_look_at_yaw(); get_look_at_yaw();
// if there is any pilot input, switch to YAW_HOLD mode for the next iteration // if there is any pilot input, switch to YAW_HOLD mode for the next iteration
if( g.rc_4.control_in != 0 ) { if (pilot_yaw != 0) {
set_yaw_mode(YAW_HOLD); set_yaw_mode(YAW_HOLD);
} }
break; break;
@ -1478,7 +1485,7 @@ void update_yaw_mode(void)
get_circle_yaw(); get_circle_yaw();
// if there is any pilot input, switch to YAW_HOLD mode for the next iteration // if there is any pilot input, switch to YAW_HOLD mode for the next iteration
if( g.rc_4.control_in != 0 ) { if (pilot_yaw != 0) {
set_yaw_mode(YAW_HOLD); set_yaw_mode(YAW_HOLD);
} }
break; break;
@ -1494,7 +1501,7 @@ void update_yaw_mode(void)
get_stabilize_yaw(nav_yaw); get_stabilize_yaw(nav_yaw);
// if there is any pilot input, switch to YAW_HOLD mode for the next iteration // if there is any pilot input, switch to YAW_HOLD mode for the next iteration
if( g.rc_4.control_in != 0 ) { if (pilot_yaw != 0) {
set_yaw_mode(YAW_HOLD); set_yaw_mode(YAW_HOLD);
} }
break; break;
@ -1516,7 +1523,7 @@ void update_yaw_mode(void)
nav_yaw = ahrs.yaw_sensor; nav_yaw = ahrs.yaw_sensor;
} }
// Commanded Yaw to automatically look ahead. // Commanded Yaw to automatically look ahead.
get_look_ahead_yaw(g.rc_4.control_in); get_look_ahead_yaw(pilot_yaw);
break; break;
case YAW_DRIFT: case YAW_DRIFT:
@ -1538,7 +1545,7 @@ void update_yaw_mode(void)
get_stabilize_yaw(nav_yaw); get_stabilize_yaw(nav_yaw);
// if there is any pilot input, switch to YAW_HOLD mode for the next iteration // if there is any pilot input, switch to YAW_HOLD mode for the next iteration
if( g.rc_4.control_in != 0 ) { if (pilot_yaw != 0) {
set_yaw_mode(YAW_HOLD); set_yaw_mode(YAW_HOLD);
} }