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FlightTaskAuto: fix Weather Vane during landing

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Weather vane should only set a yawrate setpoint, but no yaw setpoint.
Setting it to NAN when WV is active makes sure that whatever _yaw_setpoint
is set previously (e.g. through Waypoint) is not used.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-04-22 19:05:08 +02:00 committed by Matthias Grob
parent ae5725e71a
commit 680fe86c05
1 changed files with 1 additions and 1 deletions
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2
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
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@ -483,7 +483,7 @@ bool FlightTaskAuto::_evaluateTriplets()
// set heading
if (_ext_yaw_handler != nullptr && _ext_yaw_handler->is_active()) {
_yaw_setpoint = _yaw;
_yaw_setpoint = NAN;
// use the yawrate setpoint from WV only if not moving lateral (velocity setpoint below half of _param_mpc_xy_cruise)
// otherwise, keep heading constant (as output from WV is not according to wind in this case)
bool vehicle_is_moving_lateral = _velocity_setpoint.xy().longerThan(_param_mpc_xy_cruise.get() / 2.0f);