Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-23 22:58:10 +08:00
Code Issues Actions 16 Packages Projects Releases Wiki Activity

FlightTaskAuto: fix yaw reset issue during takeoff

Browse Source 
During takeoff, Navigator is sending a constant yaw value.
However, there is always a reset at 1.5m of the yaw estimate in EKF2
that is not handled by Navigator that produces a glitch in the rate
controller. Given that in FlightTask, the yaw
is already computed and properly corrected in case of an estimator reset
event, we just ignore the yaw value sent by navigator during takeoff.
This commit is contained in:
bresch
2020-07-16 16:10:22 +02:00
committed by Mathieu Bresciani
parent 8020d6407f
commit 67ae40e922
1 changed files with 5 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
+5 -1
View File
@@ -277,7 +277,11 @@ bool FlightTaskAuto::_evaluateTriplets()
_yaw_setpoint = NAN;
} else {
if (_sub_triplet_setpoint.get().current.yaw_valid) {
if (_type != WaypointType::takeoff
&& _sub_triplet_setpoint.get().current.yaw_valid) {
// Use the yaw computed in Navigator except during takeoff because
// Navigator is not handling the yaw reset properly
// TODO: fix in navigator
_yaw_setpoint = _sub_triplet_setpoint.get().current.yaw;
} else {