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Copter: Auto mode CONDITION_YAW treats neg relative angle with CCW direction as CCW #25646

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Copter: Auto mode CONDITION_YAW treats neg relative angle with CCW direction as CCW #25646

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78c1fa6
Copter: condition-yaw handle negative angle and CCW dir
rmackay9 Nov 27, 2023
1d9b484
Copter: minor format fixes
rmackay9 Nov 27, 2023
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8 changes: 6 additions & 2 deletions ArduCopter/autoyaw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -110,13 +110,17 @@ void Mode::AutoYaw::set_fixed_yaw(float angle_deg, float turn_rate_ds, int8_t di

// calculate final angle as relative to vehicle heading or absolute
if (relative_angle) {
// if both negative relative angle and CCW direction rotate in CCW direction
if (is_negative(angle_deg) && (direction < 0)) {
direction = 0;
}
_fixed_yaw_offset_cd = angle_deg * 100.0 * (direction >= 0 ? 1.0 : -1.0);
} else {
// absolute angle
_fixed_yaw_offset_cd = wrap_180_cd(angle_deg * 100.0 - _yaw_angle_cd);
if ( direction < 0 && is_positive(_fixed_yaw_offset_cd) ) {
if (direction < 0 && is_positive(_fixed_yaw_offset_cd)) {
_fixed_yaw_offset_cd -= 36000.0;
} else if ( direction > 0 && is_negative(_fixed_yaw_offset_cd) ) {
} else if (direction > 0 && is_negative(_fixed_yaw_offset_cd)) {
_fixed_yaw_offset_cd += 36000.0;
}
}
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2 changes: 0 additions & 2 deletions ArduCopter/mode_auto.cpp
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Expand Up @@ -1850,8 +1850,6 @@ void ModeAuto::do_yaw(const AP_Mission::Mission_Command& cmd)
// Do (Now) commands
/********************************************************************************/



void ModeAuto::do_change_speed(const AP_Mission::Mission_Command& cmd)
{
if (cmd.content.speed.target_ms > 0) {
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