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MC stabilized: allow yaw control at 0 throttle if yaw-airmode is selected

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This commit is contained in:
Beat Küng
2018-12-13 09:50:07 +01:00
parent 24dc316973
commit c665c34d2a
2 changed files with 4 additions and 2 deletions
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src/modules/mc_att_control/mc_att_control.hpp
+3 -1
View File
@@ -269,7 +269,9 @@ private:
(ParamFloat<px4::params::MPC_MANTHR_MIN>) _man_throttle_min, /**< minimum throttle for stabilized */ (ParamFloat<px4::params::MPC_MANTHR_MIN>) _man_throttle_min, /**< minimum throttle for stabilized */
(ParamFloat<px4::params::MPC_THR_MAX>) _throttle_max, /**< maximum throttle for stabilized */ (ParamFloat<px4::params::MPC_THR_MAX>) _throttle_max, /**< maximum throttle for stabilized */
(ParamFloat<px4::params::MPC_THR_HOVER>) _throttle_hover, /**< throttle at which vehicle is at hover equilibrium */ (ParamFloat<px4::params::MPC_THR_HOVER>) _throttle_hover, /**< throttle at which vehicle is at hover equilibrium */
(ParamInt<px4::params::MPC_THR_CURVE>) _throttle_curve /**< throttle curve behavior */ (ParamInt<px4::params::MPC_THR_CURVE>) _throttle_curve, /**< throttle curve behavior */
(ParamInt<px4::params::MC_AIRMODE>) _airmode
) )
matrix::Vector3f _attitude_p; /**< P gain for attitude control */ matrix::Vector3f _attitude_p; /**< P gain for attitude control */
src/modules/mc_att_control/mc_att_control_main.cpp
+1 -1
View File
@@ -438,7 +438,7 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
if (reset_yaw_sp) { if (reset_yaw_sp) {
_man_yaw_sp = yaw; _man_yaw_sp = yaw;
} else if (_manual_control_sp.z > 0.05f) { } else if (_manual_control_sp.z > 0.05f || _airmode.get() == (int32_t)Mixer::Airmode::roll_pitch_yaw) {
const float yaw_rate = math::radians(_yaw_rate_scaling.get()); const float yaw_rate = math::radians(_yaw_rate_scaling.get());
attitude_setpoint.yaw_sp_move_rate = _manual_control_sp.r * yaw_rate; attitude_setpoint.yaw_sp_move_rate = _manual_control_sp.r * yaw_rate;