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Re: [Paparazzi-devel] Quest about :ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLE

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Quest about :ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED
Date: Sun, 07 Jun 2015 12:54:16 +0200
User-agent: Mozilla/5.0 (X11; Linux i686; rv:31.0) Gecko/20100101 Thunderbird/31.7.0

Because when the motors are spinning but the rotorcraft is not yet "in flight", you may want to take it in your hand place it somewhere else to takeoff, or just point it in another direction, you don't want the yaw control. Also, most of the rotorcrafts can't freely spin around the yaw axis when they are on the ground, so it is useless (or even dangerous in some cases) to let the control run.


Le 07/06/2015 10:53, Eltonwu a écrit :
ATT mode.

my craft will rotate(spin? sorry for my English) when taking off,and when
it's in the air. and the heading is locked. So I think the yaw control take
effect when in_flight is true,  and when in_flight is false,the yaw control
always output 0.

So my question is Why ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED is default set

Why don't let the yaw take effect when in_flight is false,any reason?

Thank you?

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