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implemented vtol weathervane yaw control for landing and loiter mission item

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Roman
2016-02-15 09:48:37 +01:00
parent be0f680863
commit 80f8fcbdf6
5 changed files with 74 additions and 3 deletions
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src/modules/vtol_att_control/vtol_att_control_params.c
+30
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@@ -213,6 +213,36 @@ PARAM_DEFINE_FLOAT(VT_ARSP_TRANS, 10.0f);
*/
PARAM_DEFINE_INT32(VT_OPT_RECOV_EN, 0);
/**
* Enable weather-vane mode landings for missions
*
* @min 0
* @max 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_WV_LND_EN, 0);
/**
* Weather-vane yaw rate scale.
*
* The desired yawrate from the controller will be scaled in order to avoid
* yaw fighting against the wind.
*
* @min 0
* @max 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_WV_YAWR_SCL, 0.15f);
/**
* Enable weather-vane mode for loiter
*
* @min 0
* @max 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_WV_LTR_EN, 0);
/**
* Front transition timeout
*