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heading towards ROI: do not require setting the MIS_YAWMODE param to enable multicopters yawing towards ROIs

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ROI yaw control: configure yawing capability of mount in vmount parameters.
If configured that mount has no yaw control, vehicle will yaw towards ROI, irrespective of MIS_YAWMODE.
Vehicle will behave according to MIS_YAWMODE when there is no ROI.
This commit is contained in:
Nicolas de Palezieux
2018-01-22 15:56:42 +01:00
committed by Lorenz Meier
parent add3692357
commit 7ae3884944
4 changed files with 83 additions and 50 deletions
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src/drivers/vmount/vmount_params.c
+15 -1
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@@ -224,4 +224,18 @@ PARAM_DEFINE_FLOAT(MNT_OFF_ROLL, 0.0f);
* @decimal 1
* @group Mount
*/
PARAM_DEFINE_FLOAT(MNT_OFF_YAW, 0.0f);
PARAM_DEFINE_FLOAT(MNT_OFF_YAW, 0.0f);
/**
* Enable yaw control of the mount. (Only affects multicopters and ROI mission items)
*
* If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading mode as specified by MIS_YAWMODE.
* If disabled, the vehicle will yaw towards the ROI.
*
* @value 0 Disable
* @value 1 Enable
* @min 0
* @max 1
* @group Mount
*/
PARAM_DEFINE_INT32(MNT_YAW_CTL, 0);