bresch 616a71a959 MC_auto: avoid yaw step if previous setpoint is NAN ...

A VTOL plane in MC mode has no yaw setpoint during takeoff because of
weather-vane. To align for the front transition, the yaw target jumps
and caused a step in the controller, making it reach saturation.

With this commit, the previous yaw setpoint is set to the current yaw
when no yaw setpoint is sent in order to create a smooth yaw trajectory
starting at the current orientation when yaw target is suddenly finite.

The yawspeed filter also now contains the yaw speed instead of dyaw in
order to prevent chattering due to dt jitter.

2023-05-12 13:42:09 +02:00

..

CMakeLists.txt

StickYaw: use consistently for all flight tasks

2023-03-02 12:06:40 +01:00

FlightTaskAuto.cpp

MC_auto: avoid yaw step if previous setpoint is NAN

2023-05-12 13:42:09 +02:00

FlightTaskAuto.hpp

MC auto: allow yawing during hold

2023-03-31 17:32:33 +02:00