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implemented vtol weathervane yaw control for landing and loiter mission item

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Roman
2016-02-12 12:36:08 +01:00
parent dc7077b125
commit 1d5cf70e83
1 changed files with 8 additions and 0 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
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@@ -735,6 +735,14 @@ MulticopterAttitudeControl::control_attitude(float dt)
} }
} }
/* weather-vane mode, dampen yaw rate */
if (_v_att_sp.disable_mc_yaw_control == true && _v_control_mode.flag_control_velocity_enabled && !_v_control_mode.flag_control_manual_enabled) {
float wv_yaw_rate_max = _params.auto_rate_max(2) * _params.vtol_wv_yaw_rate_scale;
_rates_sp(2) = math::constrain(_rates_sp(2), -wv_yaw_rate_max, wv_yaw_rate_max);
// prevent integrator winding up in weathervane mode
_rates_int(2) = 0.0f;
}
/* feed forward yaw setpoint rate */ /* feed forward yaw setpoint rate */
_rates_sp(2) += _v_att_sp.yaw_sp_move_rate * yaw_w * _params.yaw_ff; _rates_sp(2) += _v_att_sp.yaw_sp_move_rate * yaw_w * _params.yaw_ff;