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Navigator: VTOL: disable weather vane during yaw aligning before front transition

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2019-08-21 10:08:04 +02:00
committed by Roman Bapst
parent af0d63250c
commit ab28f1e4f7
5 changed files with 26 additions and 6 deletions
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src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+6
View File
@@ -259,6 +259,12 @@ bool FlightTaskAuto::_evaluateTriplets()
}
}
if (_ext_yaw_handler != nullptr) {
// activation/deactivation of weather vane is based on parameter WV_EN and setting of navigator (allow_weather_vane)
(_param_wv_en.get() && _sub_triplet_setpoint->get().current.allow_weather_vane) ? _ext_yaw_handler->activate() :
_ext_yaw_handler->deactivate();
}
// set heading
if (_ext_yaw_handler != nullptr && _ext_yaw_handler->is_active()) {
_yaw_setpoint = _yaw;
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
+2 -1
View File
@@ -120,7 +120,8 @@ protected:
(ParamInt<px4::params::MPC_YAW_MODE>) _param_mpc_yaw_mode, // defines how heading is executed,
(ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid, // obstacle avoidance active
(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max,
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err // yaw-error threshold
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
(ParamBool<px4::params::WV_EN>) _param_wv_en // enable/disable weather vane (VTOL)
);
private: