[Paparazzi-devel] Quest about :ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED

[Eltonwu]

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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