Copter: change rotors turning on ground yaw behavior

bnsgeyer · Nov 18, 2024 · bb4fd41 · bb4fd41
1 parent 2feee53
commit bb4fd41
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Showing 9 changed files with 24 additions and 15 deletions.
diff --git a/ArduCopter/mode_acro_heli.cpp b/ArduCopter/mode_acro_heli.cpp
@@ -58,6 +58,7 @@ void ModeAcro_Heli::run()
         break;
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
         if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
+            attitude_control->reset_target_and_rate(false);
             attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;

diff --git a/ArduCopter/mode_althold.cpp b/ArduCopter/mode_althold.cpp
@@ -50,15 +50,15 @@ void ModeAltHold::run()
 
     case AltHoldModeState::MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->reset_yaw_target_and_rate(false);
+        attitude_control->reset_yaw_target_and_rate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
-        attitude_control->reset_yaw_target_and_rate();
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff:
+        attitude_control->reset_yaw_target_and_rate(false);
         attitude_control->reset_rate_controller_I_terms_smoothly();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         break;

diff --git a/ArduCopter/mode_drift.cpp b/ArduCopter/mode_drift.cpp
@@ -91,20 +91,27 @@ void ModeDrift::run()
     switch (motors->get_spool_state()) {
     case AP_Motors::SpoolState::SHUT_DOWN:
         // Motors Stopped
-        attitude_control->reset_yaw_target_and_rate(false);
+        attitude_control->reset_yaw_target_and_rate();
         attitude_control->reset_rate_controller_I_terms();
         break;
 
     case AP_Motors::SpoolState::GROUND_IDLE:
         // Landed
-        attitude_control->reset_yaw_target_and_rate();
+        attitude_control->reset_yaw_target_and_rate(false);
         attitude_control->reset_rate_controller_I_terms_smoothly();
         break;
 
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
         // clear landing flag above zero throttle
-        if (!motors->limit.throttle_lower) {
-            set_land_complete(false);
+        if (!copter.is_tradheli()) {
+            if (!motors->limit.throttle_lower) {
+                set_land_complete(false);
+            }
+        } else {
+            if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
+                attitude_control->reset_target_and_rate(false);
+                attitude_control->reset_rate_controller_I_terms_smoothly();
+            }
         }
         break;
 

diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
@@ -288,10 +288,10 @@ void ModeFlowHold::run()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
-        attitude_control->reset_yaw_target_and_rate();
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff:
+        attitude_control->reset_yaw_target_and_rate(false);
         attitude_control->reset_rate_controller_I_terms_smoothly();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         break;

diff --git a/ArduCopter/mode_loiter.cpp b/ArduCopter/mode_loiter.cpp
@@ -132,10 +132,10 @@ void ModeLoiter::run()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
-        attitude_control->reset_yaw_target_and_rate();
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff:
+        attitude_control->reset_yaw_target_and_rate(false);
         attitude_control->reset_rate_controller_I_terms_smoothly();
         loiter_nav->init_target();
         attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);

diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
@@ -102,7 +102,7 @@ void ModePosHold::run()
 
     case AltHoldModeState::MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->reset_yaw_target_and_rate(false);
+        attitude_control->reset_yaw_target_and_rate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         loiter_nav->clear_pilot_desired_acceleration();
         loiter_nav->init_target();
@@ -116,15 +116,15 @@ void ModePosHold::run()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
-        loiter_nav->clear_pilot_desired_acceleration();
-        loiter_nav->init_target();
-        attitude_control->reset_yaw_target_and_rate();
         init_wind_comp_estimate();
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff:
+        attitude_control->reset_yaw_target_and_rate(false);
         attitude_control->reset_rate_controller_I_terms_smoothly();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
+        loiter_nav->clear_pilot_desired_acceleration();
+        loiter_nav->init_target();
 
         // set poshold state to pilot override
         roll_mode = RPMode::PILOT_OVERRIDE;

diff --git a/ArduCopter/mode_sport.cpp b/ArduCopter/mode_sport.cpp
@@ -76,15 +76,15 @@ void ModeSport::run()
 
     case AltHoldModeState::MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->reset_yaw_target_and_rate(false);
+        attitude_control->reset_yaw_target_and_rate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
-        attitude_control->reset_yaw_target_and_rate();
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff:
+        attitude_control->reset_yaw_target_and_rate(false);
         attitude_control->reset_rate_controller_I_terms_smoothly();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         break;

diff --git a/ArduCopter/mode_stabilize_heli.cpp b/ArduCopter/mode_stabilize_heli.cpp
@@ -65,6 +65,7 @@ void ModeStabilize_Heli::run()
         break;
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
         if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
+            attitude_control->reset_target_and_rate(false);
             attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;

diff --git a/ArduCopter/mode_zigzag.cpp b/ArduCopter/mode_zigzag.cpp
@@ -356,10 +356,10 @@ void ModeZigZag::manual_control()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
-        attitude_control->reset_yaw_target_and_rate();
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff:
+        attitude_control->reset_yaw_target_and_rate(false);
         attitude_control->reset_rate_controller_I_terms_smoothly();
         loiter_nav->init_target();
         attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate);