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Fix yaw when in manual mode during arming

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Lorenz Meier
2016-01-11 11:58:13 +01:00
parent f99d052582
commit 79e7059eaf
1 changed files with 2 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -1
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@@ -1760,7 +1760,8 @@ MulticopterPositionControl::task_main()
} }
/* do not move yaw while sitting on the ground */ /* do not move yaw while sitting on the ground */
else if (!_vehicle_status.condition_landed) { else if (!_vehicle_status.condition_landed &&
!(!_control_mode.flag_control_altitude_enabled && _manual.z < 0.05f)) {
const float yaw_offset_max = _params.man_yaw_max / _params.mc_att_yaw_p; const float yaw_offset_max = _params.man_yaw_max / _params.mc_att_yaw_p;
_att_sp.yaw_sp_move_rate = _manual.r * _params.man_yaw_max; _att_sp.yaw_sp_move_rate = _manual.r * _params.man_yaw_max;