diff options
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_main.cpp')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index a0accb855..db5e2e9bb 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -489,14 +489,18 @@ MulticopterAttitudeControl::control_attitude(float dt) //} } else { float yaw_dz_scaled = YAW_DEADZONE * _params.rc_scale_yaw; + if (_params.rc_scale_yaw > 0.001f && fabs(_manual_control_sp.yaw) > yaw_dz_scaled) { /* move yaw setpoint */ yaw_sp_move_rate = _manual_control_sp.yaw / _params.rc_scale_yaw; + if (_manual_control_sp.yaw > 0.0f) { yaw_sp_move_rate -= YAW_DEADZONE; + } else { yaw_sp_move_rate += YAW_DEADZONE; } + yaw_sp_move_rate *= _params.rc_scale_yaw; _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt); _v_att_sp.R_valid = false; @@ -660,7 +664,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt) float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt; if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT && - _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) { + _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) { _rates_int(i) = rate_i; } } |