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multirotor_att_control: yaw control bug fixed

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This commit is contained in:
Anton Babushkin
2013-08-27 13:40:18 +02:00
parent 33c7342909
commit b9d6981cee
1 changed files with 17 additions and 14 deletions
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src/modules/multirotor_att_control/multirotor_att_control_main.c
+17 -14
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@@ -147,8 +147,6 @@ mc_thread_main(int argc, char *argv[])
warnx("starting");
/* store last control mode to detect mode switches */
bool flag_control_manual_enabled = false;
bool flag_control_attitude_enabled = false;
bool control_yaw_position = true;
bool reset_yaw_sp = true;
bool failsafe_first_time = true;
@@ -213,6 +211,11 @@ mc_thread_main(int argc, char *argv[])
/* set flag to safe value */
control_yaw_position = true;
/* reset yaw setpoint if not armed */
if (!control_mode.flag_armed) {
reset_yaw_sp = true;
}
/* define which input is the dominating control input */
if (control_mode.flag_control_offboard_enabled) {
/* offboard inputs */
@@ -234,10 +237,12 @@ mc_thread_main(int argc, char *argv[])
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
/* reset yaw setpoint after offboard control */
reset_yaw_sp = true;
} else if (control_mode.flag_control_manual_enabled) {
/* manual input */
if (control_mode.flag_control_attitude_enabled) {
/* control attitude, update attitude setpoint depending on mode */
/* if the RC signal is lost, try to stay level and go slowly back down to ground */
if (control_mode.failsave_highlevel) {
@@ -279,17 +284,8 @@ mc_thread_main(int argc, char *argv[])
} else {
failsafe_first_time = true;
/* control yaw in all manual / assisted modes */
/* set yaw if arming or switching to attitude stabilized mode */
if (!flag_control_manual_enabled || !flag_control_attitude_enabled || !control_mode.flag_armed) {
reset_yaw_sp = true;
}
/* only move setpoint if manual input is != 0 */
// TODO review yaw restpoint reset
if ((manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) && manual.throttle > min_takeoff_throttle) {
/* only move yaw setpoint if manual input is != 0 and not landed */
if (manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) {
/* control yaw rate */
control_yaw_position = false;
rates_sp.yaw = manual.yaw;
@@ -340,7 +336,14 @@ mc_thread_main(int argc, char *argv[])
rates_sp.thrust = manual.throttle;
rates_sp.timestamp = hrt_absolute_time();
}
/* reset yaw setpoint after ACRO */
reset_yaw_sp = true;
}
} else {
/* reset yaw setpoint after non-manual control */
reset_yaw_sp = true;
}
/* check if we should we reset integrals */