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Navigator: Force yaw pointing towards waypoint for all cases

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Lorenz Meier
2016-01-24 16:34:36 +01:00
parent 737fe1fc7f
commit 081da8bb7f
1 changed files with 5 additions and 3 deletions
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src/modules/navigator/mission.cpp
+5 -3
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@@ -194,9 +194,10 @@ Mission::on_active()
} }
/* see if we need to update the current yaw heading */ /* see if we need to update the current yaw heading */
if (_param_yawmode.get() != MISSION_YAWMODE_NONE if ((_param_yawmode.get() != MISSION_YAWMODE_NONE
&& _param_yawmode.get() < MISSION_YAWMODE_MAX && _param_yawmode.get() < MISSION_YAWMODE_MAX
&& _mission_type != MISSION_TYPE_NONE) { && _mission_type != MISSION_TYPE_NONE)
|| _navigator->get_vstatus()->is_vtol) {
heading_sp_update(); heading_sp_update();
} }
@@ -566,7 +567,8 @@ Mission::heading_sp_update()
} }
/* always keep the front of the rotary wing pointing to the next waypoint */ /* always keep the front of the rotary wing pointing to the next waypoint */
if (_param_yawmode.get() == MISSION_YAWMODE_FRONT_TO_WAYPOINT) { if (_param_yawmode.get() == MISSION_YAWMODE_FRONT_TO_WAYPOINT
|| _navigator->get_vstatus()->is_vtol) {
_mission_item.yaw = get_bearing_to_next_waypoint( _mission_item.yaw = get_bearing_to_next_waypoint(
point_from_latlon[0], point_from_latlon[0],
point_from_latlon[1], point_from_latlon[1],