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fix(StickYaw): Fixes potential bug if unaided yaw becomes nan during execution in StickYaw.cpp (#25710)

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* Fixes potential bug if unaided yaw becomes nan during execution:
if unaided yaw becomes nan during execution the yaw correction would jumpt to 0 causing a large jump in yaw
the change removes this jump by holding the current yaw correction instead

* Remove Python extra paths from settings.json

Removed Python extra paths from VS Code settings.
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Baardrw 2026-03-02 20:27:29 +01:00 committed by GitHub
parent 12babb33cb
commit c2ea4e6121
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1 changed files with 2 additions and 1 deletions
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src/lib/stick_yaw/StickYaw.cpp
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@ -73,7 +73,8 @@ void StickYaw::generateYawSetpoint(float &yawspeed_setpoint, float &yaw_setpoint
bool StickYaw::updateYawCorrection(const float yaw, const float unaided_yaw, const float deltatime)
{
if (!PX4_ISFINITE(unaided_yaw)) {
_yaw_correction = 0.f;
// If unaided yaw is not available we leave yaw_correction_ unchanged
// Meaning yaw_setpoint - yaw_correction_prev + _yaw_correction = yaw_setpoint
return false;
}