Actually, It's question about Yaw control.
I read the source code. I found there is no yaw control when in_flight is
false.
#ifndef ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED
#define SetRotorcraftCommands(_cmd, _in_flight, _motor_on) { \
*if (!(_in_flight)) { _cmd[COMMAND_YAW] = 0; } * \
if (!(_motor_on)) { _cmd[COMMAND_THRUST] = 0; } \
commands[COMMAND_ROLL] = _cmd[COMMAND_ROLL]; \
commands[COMMAND_PITCH] = _cmd[COMMAND_PITCH]; \
commands[COMMAND_YAW] = _cmd[COMMAND_YAW]; \
commands[COMMAND_THRUST] = _cmd[COMMAND_THRUST]; \
}
I was confused, Why do this? and My rotorcraft is spined when taking
off,
namely no yaw control when in_flight is false.
Thanks in advance.
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