diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index 7f397b1b784025e97fce476478485f27432f0989..09124ea89e47474357e40b09ad48f529ad7d10a1 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -1666,8 +1666,7 @@ void update_roll_pitch_mode(void) control_roll = g.rc_1.control_in; control_pitch = g.rc_2.control_in; - - // in this mode, nav_roll and nav_pitch = the iterm + get_stabilize_roll(control_roll); get_stabilize_pitch(control_pitch); @@ -2043,7 +2042,6 @@ static void update_navigation() if(yaw_mode == YAW_LOOK_AT_HOME) { if(home_is_set) { - //nav_yaw = point_at_home_yaw(); nav_yaw = get_bearing_cd(¤t_loc, &home); } else { nav_yaw = 0; @@ -2058,7 +2056,7 @@ static void update_nav_RTL() // if loiter_timer value > 0, we are set to trigger auto_land or approach set_mode(LOITER); - // just un case we arrive and we aren't at the lower RTL alt yet. + // just in case we arrive and we aren't at the lower RTL alt yet. set_new_altitude(get_RTL_alt()); // force loitering above home diff --git a/ArduCopter/config.h b/ArduCopter/config.h index a7a96ca0d890c7c7deffb8304fe1d45e46492a94..7ba220d7ba4f21456b09b9df9b9039b7f84f959e 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -546,7 +546,11 @@ // AUTO Mode #ifndef AUTO_YAW - # define AUTO_YAW YAW_AUTO + #if FRAME_CONFIG == HELI_FRAME + # define AUTO_YAW YAW_LOOK_AT_HOME + #else + # define AUTO_YAW YAW_AUTO + #endif #endif #ifndef AUTO_RP diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h index d138f76b11b3dea9209899c408e643f9684cf088..12d40b6a1b24dc7f1bb0ac80dfae522ed6a0674c 100644 --- a/ArduCopter/defines.h +++ b/ArduCopter/defines.h @@ -16,7 +16,7 @@ #define YAW_HOLD 0 #define YAW_ACRO 1 #define YAW_AUTO 2 -#define YAW_LOOK_AT_HOME 3 +#define YAW_LOOK_AT_HOME 3 #define YAW_TOY 4 // THOR This is the Yaw mode diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde index c6ab1b21d8d95e7cf1c9f755332a6f778fb20d4e..2099407cd2af5387fb992037848e701919c88c6d 100644 --- a/ArduCopter/system.pde +++ b/ArduCopter/system.pde @@ -392,22 +392,6 @@ static void startup_ground(void) reset_I_all(); } -/* - * #define YAW_HOLD 0 - * #define YAW_ACRO 1 - * #define YAW_AUTO 2 - * #define YAW_LOOK_AT_HOME 3 - * - * #define ROLL_PITCH_STABLE 0 - * #define ROLL_PITCH_ACRO 1 - * #define ROLL_PITCH_AUTO 2 - * - * #define THROTTLE_MANUAL 0 - * #define THROTTLE_HOLD 1 - * #define THROTTLE_AUTO 2 - * - */ - static void set_mode(byte mode) { // if we don't have GPS lock