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MPC auto - Add MPC_YAW_MODE: towards waypoint (yaw first) mode. This mode ensures that

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the vehicle yaws towards the next waypoint before accelerating. This is
required for drones with front vision and aerodynamic multicopters such
as standard vtol planes or highspeed multirotors.
This commit is contained in:
bresch
2019-07-11 17:46:44 +02:00
committed by Mathieu Bresciani
parent 2ed00c9cb6
commit 15ec73629b
6 changed files with 74 additions and 45 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+2 -1
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@@ -762,11 +762,12 @@ PARAM_DEFINE_FLOAT(MPC_SPOOLUP_TIME, 1.0f);
* Specifies the heading in Auto.
*
* @min 0
* @max 3
* @max 4
* @value 0 towards waypoint
* @value 1 towards home
* @value 2 away from home
* @value 3 along trajectory
* @value 4 towards waypoint (yaw first)
* @group Mission
*/
PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);