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Copter: SmartRTL should give pilot yaw control #8232

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rmackay9 opened this issue Apr 25, 2018 · 1 comment

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Copter Enhancement good first issue

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rmackay9 commented Apr 25, 2018

Copter-3.6 includes SmartRTL but it does not allow the user to control the vehicle's yaw like regular RTL does.

The way this can be done is:

copy this bit of code from regular RTL that reads in the pilot's yaw input. This should be copied into mode_smart_rtl.cpp's path_follow_run method
a few lines lower in mode_smart_rtl.cpp we should pass in the "target_yaw_rate" as the last argument to the call to attitude controller->input_euler_angle_roll_pitch_euler_rate_yaw (see here)

rmackay9 added Enhancement Copter good first issue labels

rmackay9 added this to the AC 3.6.0 milestone

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rmackay9 commented Apr 30, 2018

Resolved in master with this commit from @sarthak268. Thanks!

rmackay9 closed this as completed

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