Merged in f5soh/librepilot/LP-576_Default_Yaw_stabilization_automomous_modes (pull request #492)

f5soh · filnet · commit 66bbc2b47b13 · 2018-04-29T17:28:47.000Z
LP-576 Made AxisLock as default for Yaw stabilization in all autonomous modes.

Approved-by: Lalanne Laurent &lt;f5soh@free.fr&gt;
Approved-by: Philippe Renon &lt;philippe_renon@yahoo.fr&gt;
diff --git a/flight/modules/AutoTune/autotune.c b/flight/modules/AutoTune/autotune.c
@@ -835,7 +835,7 @@ static void UpdateStabilizationDesired(bool doingIdent)
     } else {
         stabDesired.StabilizationMode.Roll  = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
         stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
-        stabDesired.StabilizationMode.Yaw   = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
+        stabDesired.StabilizationMode.Yaw   = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
     }
 
     if (systemIdentSettings.ThrustControl == SYSTEMIDENTSETTINGS_THRUSTCONTROL_ALTITUDEVARIO) {
diff --git a/flight/modules/PathFollower/pathfollower.cpp b/flight/modules/PathFollower/pathfollower.cpp
@@ -477,7 +477,7 @@ static void updateFixedAttitude(float *attitude)
     stabDesired.Thrust = attitude[3];
     stabDesired.StabilizationMode.Roll   = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
     stabDesired.StabilizationMode.Pitch  = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
-    stabDesired.StabilizationMode.Yaw    = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
+    stabDesired.StabilizationMode.Yaw    = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
     stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
     StabilizationDesiredSet(&stabDesired);
 }
diff --git a/flight/modules/PathFollower/vtolbrakecontroller.cpp b/flight/modules/PathFollower/vtolbrakecontroller.cpp
@@ -289,7 +289,7 @@ int8_t VtolBrakeController::UpdateStabilizationDesired(void)
     ManualControlCommandData manualControl;
     ManualControlCommandGet(&manualControl);
 
-    stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
+    stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
     stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
 
     // default thrust mode to cruise control
diff --git a/flight/modules/PathFollower/vtolflycontroller.cpp b/flight/modules/PathFollower/vtolflycontroller.cpp
@@ -343,7 +343,7 @@ void VtolFlyController::UpdateDesiredAttitudeEmergencyFallback()
 
     stabDesired.StabilizationMode.Roll   = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
     stabDesired.StabilizationMode.Pitch  = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
-    stabDesired.StabilizationMode.Yaw    = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
+    stabDesired.StabilizationMode.Yaw    = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
     stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
     StabilizationDesiredSet(&stabDesired);
 }
diff --git a/flight/modules/PathFollower/vtolvelocitycontroller.cpp b/flight/modules/PathFollower/vtolvelocitycontroller.cpp
@@ -180,7 +180,7 @@ int8_t VtolVelocityController::UpdateStabilizationDesired(__attribute__((unused)
     ManualControlCommandData manualControl;
     ManualControlCommandGet(&manualControl);
 
-    stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
+    stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
     stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
 
     // default thrust mode to altvario

Original file line number	Diff line number	Diff line change
`@@ -835,7 +835,7 @@ static void UpdateStabilizationDesired(bool doingIdent)`
`835`	`835`	`} else {`
`836`	`836`	`stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;`
`837`	`837`	`stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;`
`838`		`- stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;`
	`838`	`+ stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;`
`839`	`839`	`}`
`840`	`840`
`841`	`841`	`if (systemIdentSettings.ThrustControl == SYSTEMIDENTSETTINGS_THRUSTCONTROL_ALTITUDEVARIO) {`
Original file line number	Diff line number	Diff line change
`@@ -477,7 +477,7 @@ static void updateFixedAttitude(float *attitude)`
`477`	`477`	`stabDesired.Thrust = attitude[3];`
`478`	`478`	`stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;`
`479`	`479`	`stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;`
`480`		`- stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;`
	`480`	`+ stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;`
`481`	`481`	`stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;`
`482`	`482`	`StabilizationDesiredSet(&stabDesired);`
`483`	`483`	`}`
Original file line number	Diff line number	Diff line change
`@@ -343,7 +343,7 @@ void VtolFlyController::UpdateDesiredAttitudeEmergencyFallback()`
`343`	`343`
`344`	`344`	`stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;`
`345`	`345`	`stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;`
`346`		`- stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;`
	`346`	`+ stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;`
`347`	`347`	`stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;`
`348`	`348`	`StabilizationDesiredSet(&stabDesired);`
`349`	`349`	`}`