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Copter: Guided Angle: Initialize yaw to current yaw. #26407

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Mar 25, 2024
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Copter: Guided Angle: Initialize yaw to current yaw. #26407

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7 changes: 2 additions & 5 deletions ArduCopter/mode_guided.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -313,14 +313,11 @@ void ModeGuided::angle_control_start()

// initialise targets
guided_angle_state.update_time_ms = millis();
guided_angle_state.attitude_quat.initialise();
guided_angle_state.attitude_quat.from_euler(Vector3f(0.0, 0.0, attitude_control->get_att_target_euler_rad().z));
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guided_angle_state.ang_vel.zero();
guided_angle_state.climb_rate_cms = 0.0f;
guided_angle_state.yaw_rate_cds = 0.0f;
guided_angle_state.use_yaw_rate = false;

// pilot always controls yaw
auto_yaw.set_mode(AutoYaw::Mode::HOLD);
}

// set_destination - sets guided mode's target destination
Expand Down Expand Up @@ -939,7 +936,7 @@ void ModeGuided::angle_control_run()
// check for timeout - set lean angles and climb rate to zero if no updates received for 3 seconds
uint32_t tnow = millis();
if (tnow - guided_angle_state.update_time_ms > get_timeout_ms()) {
guided_angle_state.attitude_quat.initialise();
guided_angle_state.attitude_quat.from_euler(Vector3f(0.0, 0.0, attitude_control->get_att_target_euler_rad().z));
guided_angle_state.ang_vel.zero();
climb_rate_cms = 0.0f;
if (guided_angle_state.use_thrust) {
Expand Down
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