/*
stabilize the yaw axis. There are 3 modes of operation:
- hold a specific heading with ground steering
- rate controlled with ground steering
- yaw control for coordinated flight
*/
void Plane::stabilize_yaw(float speed_scaler)
{
if (landing.is_flaring()) {
// in flaring then enable ground steering
steering_control.ground_steering = true;
} else {
// otherwise use ground steering when no input control and we
// are below the GROUND_STEER_ALT
steering_control.ground_steering = (channel_roll->get_control_in() == 0 &&
fabsf(relative_altitude) < g.ground_steer_alt);
if (!landing.is_ground_steering_allowed()) {
// don't use ground steering on landing approach
steering_control.ground_steering = false;
}
}
/*
first calculate steering_control.steering for a nose or tail
wheel. We use "course hold" mode for the rudder when either performing
a flare (when the wings are held level) or when in course hold in
FBWA mode (when we are below GROUND_STEER_ALT)
*/
if (landing.is_flaring() ||
(steer_state.hold_course_cd != -1 && steering_control.ground_steering)) {
calc_nav_yaw_course();
} else if (steering_control.ground_steering) {
calc_nav_yaw_ground();
}
/*
now calculate steering_control.rudder for the rudder
*/
calc_nav_yaw_coordinated(speed_scaler);
}
/*
stabilize the yaw axis. There are 3 modes of operation:
- hold a specific heading with ground steering
- rate controlled with ground steering
- yaw control for coordinated flight
*/
void Plane::stabilize_yaw(float speed_scaler)
{
if (control_mode == AUTO && flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) {
// in land final setup for ground steering
steering_control.ground_steering = true;
} else {
// otherwise use ground steering when no input control and we
// are below the GROUND_STEER_ALT
steering_control.ground_steering = (channel_roll->get_control_in() == 0 &&
fabsf(relative_altitude()) < g.ground_steer_alt);
if (control_mode == AUTO &&
(flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE)) {
// don't use ground steering on landing approach
steering_control.ground_steering = false;
}
}
/*
first calculate steering_control.steering for a nose or tail
wheel.
We use "course hold" mode for the rudder when either in the
final stage of landing (when the wings are help level) or when
in course hold in FBWA mode (when we are below GROUND_STEER_ALT)
*/
if ((control_mode == AUTO && flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) ||
(steer_state.hold_course_cd != -1 && steering_control.ground_steering)) {
calc_nav_yaw_course();
} else if (steering_control.ground_steering) {
calc_nav_yaw_ground();
}
/*
now calculate steering_control.rudder for the rudder
*/
calc_nav_yaw_coordinated(speed_scaler);
}
