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Copter: Dissable yaw slew in loiter

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Leonard Hall 2022-05-14 13:25:55 +09:30 committed by Randy Mackay
parent 0d863aa736
commit b8a92058b1
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/mode_loiter.cpp
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@ -128,7 +128,7 @@ void ModeLoiter::run()
attitude_control->reset_yaw_target_and_rate(); attitude_control->reset_yaw_target_and_rate();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
loiter_nav->init_target(); loiter_nav->init_target();
attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate); attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
break; break;
case AltHold_Takeoff: case AltHold_Takeoff:
@ -147,7 +147,7 @@ void ModeLoiter::run()
loiter_nav->update(); loiter_nav->update();
// call attitude controller // call attitude controller
attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate); attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
break; break;
case AltHold_Landed_Ground_Idle: case AltHold_Landed_Ground_Idle:
@ -157,7 +157,7 @@ void ModeLoiter::run()
case AltHold_Landed_Pre_Takeoff: case AltHold_Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms_smoothly(); attitude_control->reset_rate_controller_I_terms_smoothly();
loiter_nav->init_target(); loiter_nav->init_target();
attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate); attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
break; break;
@ -186,7 +186,7 @@ void ModeLoiter::run()
#endif #endif
// call attitude controller // call attitude controller
attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate); attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
// get avoidance adjusted climb rate // get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate); target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);