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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 4b3aff3f91
commit f8165c2864
1 changed files with 15 additions and 8 deletions
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23
ArduCopter/ArduCopter.pde
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@ -1410,6 +1410,13 @@ bool set_yaw_mode(uint8_t new_yaw_mode)
// 100hz update rate
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) {
case YAW_HOLD:
@ -1418,12 +1425,12 @@ void update_yaw_mode(void)
control_yaw = ahrs.yaw_sensor;
}
// heading hold at heading held in control_yaw but allow input from pilot
get_yaw_rate_stabilized_ef(g.rc_4.control_in);
get_yaw_rate_stabilized_ef(pilot_yaw);
break;
case YAW_ACRO:
// pilot controlled yaw using rate controller
get_yaw_rate_stabilized_bf(g.rc_4.control_in);
get_yaw_rate_stabilized_bf(pilot_yaw);
break;
case YAW_LOOK_AT_NEXT_WP:
@ -1438,7 +1445,7 @@ void update_yaw_mode(void)
get_stabilize_yaw(control_yaw);
// 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);
}
break;
@ -1452,7 +1459,7 @@ void update_yaw_mode(void)
get_look_at_yaw();
// 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);
}
break;
@ -1466,7 +1473,7 @@ void update_yaw_mode(void)
get_circle_yaw();
// 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);
}
break;
@ -1482,7 +1489,7 @@ void update_yaw_mode(void)
get_stabilize_yaw(control_yaw);
// 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);
}
break;
@ -1504,7 +1511,7 @@ void update_yaw_mode(void)
control_yaw = ahrs.yaw_sensor;
}
// Commanded Yaw to automatically look ahead.
get_look_ahead_yaw(g.rc_4.control_in);
get_look_ahead_yaw(pilot_yaw);
break;
case YAW_DRIFT:
@ -1526,7 +1533,7 @@ void update_yaw_mode(void)
get_stabilize_yaw(control_yaw);
// 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);
}