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wrap yaw attitude setpoint for offboard mode #8339

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merged 1 commit into from
Nov 24, 2017
Merged

wrap yaw attitude setpoint for offboard mode #8339

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14 changes: 13 additions & 1 deletion src/modules/mc_pos_control/mc_pos_control_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1626,7 +1626,19 @@ MulticopterPositionControl::control_offboard(float dt)
_att_sp.yaw_body = _pos_sp_triplet.current.yaw;

} else if (_pos_sp_triplet.current.yawspeed_valid) {
_att_sp.yaw_body = _att_sp.yaw_body + _pos_sp_triplet.current.yawspeed * dt;
float yaw_target = _wrap_pi(_att_sp.yaw_body + _pos_sp_triplet.current.yawspeed * dt);
float yaw_offs = _wrap_pi(yaw_target - _yaw);
const float yaw_rate_max = (_params.man_yaw_max < _params.global_yaw_max) ? _params.man_yaw_max :
_params.global_yaw_max;
const float yaw_offset_max = yaw_rate_max / _params.mc_att_yaw_p;

// If the yaw offset became too big for the system to track stop
// shifting it, only allow if it would make the offset smaller again.
if (fabsf(yaw_offs) < yaw_offset_max ||
(_pos_sp_triplet.current.yawspeed > 0 && yaw_offs < 0) ||
(_pos_sp_triplet.current.yawspeed < 0 && yaw_offs > 0)) {
_att_sp.yaw_body = yaw_target;
}
}

} else {
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