Copter: condition yaw fix #24719
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Copter: condition yaw fix #24719
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IamPete1
reviewed
Aug 21, 2023
IamPete1
reviewed
Aug 21, 2023
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I accidentally closed this while closing this other yaw related PR #25646 |
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While re-working this PR I stumbled across a much simpler fix which is to always update the position controller's yaw angle and rate targets. When we don't have a velocity vector long enough to calculate a good target we simply use the attitude controller's current target. I've tested and this resolves the original issue #24717 |
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Thanks for the reviews, merged! |
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This is included in 4.5.2-beta1 |
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This resolves issue #24717 which involves the vehicle pointing towards an out-of-date yaw target.
This has been tested in SITL