From 5f8f53ec0ac242712629dc298ffa4b589aa92be5 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Thu, 18 Oct 2012 16:39:05 -0400
Subject: [PATCH] Changed RLT Yaw Mode for TradHeli. Also a few comment
cleanups.
---
ArduCopter/ArduCopter.pde | 6 ++----
ArduCopter/config.h | 6 +++++-
ArduCopter/defines.h | 2 +-
ArduCopter/system.pde | 16 ----------------
4 files changed, 8 insertions(+), 22 deletions(-)
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 7f397b1b7..09124ea89 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 a7a96ca0d..7ba220d7b 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 d138f76b1..12d40b6a1 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 c6ab1b21d..2099407cd 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
--
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