Copter: Make use of heading correction on ground selectable for tradheli

bnsgeyer · Nov 25, 2024 · c05659a · c05659a
1 parent 4785e9e
commit c05659a
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Showing 9 changed files with 27 additions and 3 deletions.
diff --git a/ArduCopter/mode_acro_heli.cpp b/ArduCopter/mode_acro_heli.cpp
@@ -60,7 +60,9 @@ void ModeAcro_Heli::run()
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
     case AP_Motors::SpoolState::SPOOLING_DOWN:
         if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
-            attitude_control->reset_target_and_rate(false);
+            if (!motors->using_hdg_error_correction()) {
+                attitude_control->reset_yaw_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
@@ -55,6 +55,9 @@ void ModeAltHold::run()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
+        if (motors->using_hdg_error_correction()) {
+            attitude_control->reset_yaw_target_and_rate(false);
+        }
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff:

diff --git a/ArduCopter/mode_drift.cpp b/ArduCopter/mode_drift.cpp
@@ -116,7 +116,9 @@ void ModeDrift::run()
             }
         } else {
             if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
-                attitude_control->reset_target_and_rate(false);
+                if (!motors->using_hdg_error_correction()) {
+                    attitude_control->reset_yaw_target_and_rate(false);
+                }
                 attitude_control->reset_rate_controller_I_terms_smoothly();
             }
         }

diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
@@ -288,6 +288,9 @@ void ModeFlowHold::run()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
+        if (motors->using_hdg_error_correction()) {
+            attitude_control->reset_yaw_target_and_rate(false);
+        }
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff:

diff --git a/ArduCopter/mode_loiter.cpp b/ArduCopter/mode_loiter.cpp
@@ -132,6 +132,9 @@ void ModeLoiter::run()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
+        if (motors->using_hdg_error_correction()) {
+            attitude_control->reset_yaw_target_and_rate(false);
+        }
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff:

diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
@@ -116,6 +116,9 @@ void ModePosHold::run()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
+        if (motors->using_hdg_error_correction()) {
+            attitude_control->reset_yaw_target_and_rate(false);
+        }
         init_wind_comp_estimate();
         FALLTHROUGH;
 

diff --git a/ArduCopter/mode_sport.cpp b/ArduCopter/mode_sport.cpp
@@ -81,6 +81,9 @@ void ModeSport::run()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
+        if (motors->using_hdg_error_correction()) {
+            attitude_control->reset_yaw_target_and_rate(false);
+        }
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff:

diff --git a/ArduCopter/mode_stabilize_heli.cpp b/ArduCopter/mode_stabilize_heli.cpp
@@ -59,7 +59,9 @@ void ModeStabilize_Heli::run()
         // If aircraft is landed, set target heading to current and reset the integrator
         // Otherwise motors could be at ground idle for practice autorotation
         if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
-            attitude_control->reset_yaw_target_and_rate(false);
+            if (!motors->using_hdg_error_correction()) {
+                attitude_control->reset_yaw_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
@@ -356,6 +356,9 @@ void ModeZigZag::manual_control()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
+        if (motors->using_hdg_error_correction()) {
+            attitude_control->reset_yaw_target_and_rate(false);
+        }
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff: