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AC_Attitude:Add TKOFF/LAND Only Weathervaning option #23043

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AC_Attitude:Add TKOFF/LAND Only Weathervaning option #23043

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5 changes: 3 additions & 2 deletions libraries/AC_AttitudeControl/AC_WeatherVane.cpp
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Expand Up @@ -90,7 +90,7 @@ const AP_Param::GroupInfo AC_WeatherVane::var_info[] = {
// @Param: OPTIONS
// @DisplayName: Weathervaning options
// @Description: Options impacting weathervaning behaviour
// @Bitmask: 0:Use pitch when nose or tail-in for faster weathervaning
// @Bitmask: 0:Use pitch when nose or tail-in for faster weathervaning, 1:Only Weathervane in landings or takeoffs
// @User: Standard
AP_GROUPINFO("OPTIONS", 9, AC_WeatherVane, _options, 0),

Expand All @@ -107,10 +107,11 @@ AC_WeatherVane::AC_WeatherVane(void)
bool AC_WeatherVane::get_yaw_out(float &yaw_output, const int16_t pilot_yaw, const float hgt, const float roll_cdeg, const float pitch_cdeg, const bool is_takeoff, const bool is_landing)
{
Direction dir = (Direction)_direction.get();
if ((dir == Direction::OFF) || !allowed || (pilot_yaw != 0) || !is_positive(_gain)) {
if ((dir == Direction::OFF) || !allowed || (pilot_yaw != 0) || !is_positive(_gain)|| (!(is_takeoff || is_landing) && (bool(uint8_t(_options.get()) & uint8_t(Options::TAKEOFF_OR_LAND_ONLY))))) {
// parameter disabled, or 0 gain
// disabled temporarily
// dont't override pilot
// not in takeoff and landing when option for only those cases is set
reset();
return false;
}
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1 change: 1 addition & 0 deletions libraries/AC_AttitudeControl/AC_WeatherVane.h
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Expand Up @@ -33,6 +33,7 @@ class AC_WeatherVane {

enum class Options {
PITCH_ENABLE = (1<<0),
TAKEOFF_OR_LAND_ONLY = (1<<1),
};

// Paramaters
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