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allow yawing with 0 throttle, changed condition to not being landed

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Andreas Antener
2016-01-06 08:33:51 +01:00
committed by Lorenz Meier
parent 7d5a12f997
commit 99f4487cc3
1 changed files with 2 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -2
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@@ -1765,8 +1765,8 @@ MulticopterPositionControl::task_main()
_att_sp.yaw_body = _yaw; _att_sp.yaw_body = _yaw;
} }
/* do not move yaw while arming */ /* do not move yaw while sitting on the ground */
else if (_manual.z > 0.1f) { else if (!_vehicle_status.condition_landed) {
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;