[AVEM-1408] Planck copter 4.0.7 avem indago gimbal message check #54
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AubreyC
reviewed
Nov 21, 2022
ArduCopter/mode_plancktracking.cpp
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| //If we've stopped getting the mavlink yaw rate commands, use 0 yaw rate command | ||
| if(AP_HAL::micros64() - mount->get_last_mount_control_time_us() > 500000) | ||
| if(copter.mode_guided.mode()==Guided_Angle) |
ArduCopter/mode_plancktracking.cpp
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| else if(copter.flightmode->auto_yaw.mode() == AUTO_YAW_RATE) | ||
| { | ||
| copter.flightmode->auto_yaw.set_fixed_yaw( | ||
| copter.flightmode->auto_yaw.rate_cds(), |
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need to be converted to deg ? (not centidegrees)
ArduCopter/mode_plancktracking.cpp
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| @@ -50,7 +52,7 @@ void ModePlanckTracking::run() { | |||
| // so we add that offset to the current vehicle heading to obtain the desired absoute heading. | |||
| // Note that the getter method "get_follow_yaw_rate()" is poorly named; it is not a rate, | |||
| // it's the differene between vehicle and gimbal heading. | |||
| if(mount != nullptr) { | |||
| if(mount != nullptr && ((mount->get_last_mount_control_time_us() > 0) || (mount->get_last_payload_update_us > 0))) { | |||
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get_last_payload_update_us -> get_last_payload_update_us() ?
AubreyC
approved these changes
Nov 22, 2022
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AVEM-1408
This PR adds a check to verify a message from either a gimbal or the VSCI tablet has been received before using the payload yaw control logic in mode_plancktracking. Currently, it only checks whether a gimbal mount object has been created, which will be true if configured as such, even even no gimbal is present. This PR aims to verify a gimbal is present in addition to the gimbal mount object existing, before using any payload yaw logic.
Without these changes, the payload yaw logic will execute using incorrect data, resulting in unexpected yaw behavior. It has been observed that this results in yawing close to north.