From 42d03cb07695d832f06abeda448212714fa35dfe Mon Sep 17 00:00:00 2001 From: tumbili Date: Tue, 13 Oct 2015 22:59:35 +0200 Subject: [PATCH] activate wheel controller as soon as plane flares --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 0727c718e0..8d8409445d 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1291,6 +1291,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* kill the throttle if param requests it */ throttle_max = _parameters.throttle_max; + /* enable direct yaw control using rudder/wheel */ + _att_sp.yaw_body = target_bearing; + _att_sp.fw_control_yaw = true; + if (_global_pos.alt < terrain_alt + landingslope.motor_lim_relative_alt() || land_motor_lim) { throttle_max = math::min(throttle_max, _parameters.throttle_land_max); if (!land_motor_lim) {