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FlightTaskManual: enable non-carrot velocity method also for yaw

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This commit is contained in:
Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 975ac11635
commit 6c0acf8e13
1 changed files with 10 additions and 2 deletions
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src/lib/FlightTasks/tasks/FlightTaskManual.cpp
+10 -2
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@@ -76,7 +76,7 @@ bool FlightTaskManual::activate()
{
bool ret = FlightTask::activate();
_hold_position = Vector3f(NAN, NAN, NAN);
_hold_yaw = _yaw;
_hold_yaw = NAN;
return ret;
}
@@ -150,7 +150,15 @@ void FlightTaskManual::_updateYaw()
const float yaw_speed = _sticks(3) * math::radians(_man_yaw_max.get());
_setYawspeedSetpoint(yaw_speed);
_hold_yaw += yaw_speed * _deltatime;
const bool stick_yaw_zero = yaw_speed <= FLT_EPSILON;
if (stick_yaw_zero && !PX4_ISFINITE(_hold_position(2))) {
_hold_yaw = _yaw;
} else if (!stick_yaw_zero) {
_hold_yaw = NAN;
}
_setYawSetpoint(_hold_yaw);
}