From ad88ef14e1745f04af27ecd7ad48ed62f491a0ea Mon Sep 17 00:00:00 2001
From: Roman <bapstroman@gmail.com>
Date: Tue, 18 Sep 2018 20:24:02 +0200
Subject: [PATCH] weathervane: use a single parameter to enable - in auto mode
 we always run weather vane - in manual model we just use it in position
 control mode

Signed-off-by: Roman <bapstroman@gmail.com>
---
 src/lib/WeatherVane/WeatherVane.hpp                |  7 ++-----
 src/lib/WeatherVane/weathervane_params.c           | 12 ++----------
 src/modules/mc_pos_control/mc_pos_control_main.cpp |  7 +++----
 3 files changed, 7 insertions(+), 19 deletions(-)

diff --git a/src/lib/WeatherVane/WeatherVane.hpp b/src/lib/WeatherVane/WeatherVane.hpp
index dfa49e6850..c96bbb6392 100644
--- a/src/lib/WeatherVane/WeatherVane.hpp
+++ b/src/lib/WeatherVane/WeatherVane.hpp
@@ -58,9 +58,7 @@ public:
 
 	bool is_active() {return _is_active;}
 
-	bool manual_enabled() { return _wv_manual_enabled.get(); }
-
-	bool auto_enabled() { return _wv_auto_enabled.get(); }
+	bool weathervane_enabled() { return _wv_enabled.get(); }
 
 	void update(const matrix::Quatf &q_sp_prev, float yaw);
 
@@ -75,8 +73,7 @@ private:
 	bool _is_active = true;
 
 	DEFINE_PARAMETERS(
-		(ParamBool<px4::params::WV_MAN_EN>) _wv_manual_enabled,
-		(ParamBool<px4::params::WV_AUTO_EN>) _wv_auto_enabled,
+		(ParamBool<px4::params::WV_EN>) _wv_enabled,
 		(ParamFloat<px4::params::WV_ROLL_MIN>) _wv_min_roll,
 		(ParamFloat<px4::params::WV_GAIN>) _wv_gain,
 		(ParamFloat<px4::params::WV_YRATE_MAX>) _wv_max_yaw_rate
diff --git a/src/lib/WeatherVane/weathervane_params.c b/src/lib/WeatherVane/weathervane_params.c
index c6b76fd284..80905ff36e 100644
--- a/src/lib/WeatherVane/weathervane_params.c
+++ b/src/lib/WeatherVane/weathervane_params.c
@@ -40,20 +40,12 @@
  */
 
 /**
- * Enable weathervane for manual position control mode.
+ * Enable weathervane.
  *
  * @boolean
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_INT32(WV_MAN_EN, 0);
-
-/**
- * Enable weathervane for auto.
- *
- * @boolean
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_INT32(WV_AUTO_EN, 0);
+PARAM_DEFINE_INT32(WV_EN, 0);
 
 /**
  * Weather-vane roll angle to yawrate.
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index c633d574b9..ecefbd49e4 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -606,11 +606,10 @@ MulticopterPositionControl::task_main()
 		// activate the weathervane controller if required. If activated a flighttask can use it to implement a yaw-rate control strategy
 		// that turns the nose of the vehicle into the wind
 		if (_wv_controller != nullptr) {
-			if (_control_mode.flag_control_manual_enabled && _control_mode.flag_control_attitude_enabled
-			    && _wv_controller->manual_enabled()) {
-				_wv_controller->activate();
 
-			} else if (_control_mode.flag_control_auto_enabled && _wv_controller->auto_enabled()) {
+			// in manual mode we just want to use weathervane if position is controlled as well
+			if (_wv_controller->weathervane_enabled() && !(_control_mode.flag_control_manual_enabled
+					&& !_control_mode.flag_control_position_enabled)) {
 				_wv_controller->activate();
 
 			} else {