AP_Mount:Enhance YAW_LOCK to capture heading for target in lock for RC targetting #31713
+24
−6
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
peterbarker
reviewed
Dec 13, 2025
peterbarker
reviewed
Dec 13, 2025
peterbarker
reviewed
Dec 13, 2025
peterbarker
reviewed
Dec 13, 2025
Hwurzburg
force-pushed
the
yaw_lock_dir_option
branch
from
9c5a856 to
768f23a
Compare
Hwurzburg
force-pushed
the
yaw_lock_dir_option
branch
from
768f23a to
8d11a22
Compare
Contributor
Author
|
removed behavior as optional and now replaces current behavior as discussed in DevCall |
rmackay9
reviewed
Dec 16, 2025
Hwurzburg
force-pushed
the
yaw_lock_dir_option
branch
from
8d11a22 to
ab25b59
Compare
rmackay9
reviewed
Dec 17, 2025
rmackay9
reviewed
Dec 17, 2025
Hwurzburg
force-pushed
the
yaw_lock_dir_option
branch
from
ab25b59 to
dfcd0fb
Compare
rmackay9
reviewed
Dec 17, 2025
Hwurzburg
force-pushed
the
yaw_lock_dir_option
branch
from
dfcd0fb to
c5232a4
Compare
rmackay9
reviewed
Dec 19, 2025
rmackay9
reviewed
Dec 19, 2025
libraries/AP_Mount/AP_Mount_Siyi.cpp
Outdated
| break; | ||
| case MountTargetType::RATE: | ||
| send_target_rates(mnt_target.rate_rads.pitch, mnt_target.rate_rads.yaw, mnt_target.rate_rads.yaw_is_ef); | ||
| update_angle_target_from_rate(mnt_target.rate_rads, mnt_target.angle_rad); |
Contributor
There was a problem hiding this comment.
I think the angle targets will not be completely accurate because the gimbal does not perfectly obey our rate requests. I think this PR is still an improvement though so I'm not going to hold it up over this.
An alternative would be to use the angles reported by the gimbal but I'm not sure it's worth it.
Contributor
|
I think after the wrap_PI() is added we can merge this, thanks! |
Hwurzburg
force-pushed
the
yaw_lock_dir_option
branch
from
c5232a4 to
43eab30
Compare
rmackay9
reviewed
Dec 20, 2025
| } else { | ||
| // yaw target in body frame so apply body frame limits | ||
| mnt_target.angle_rad.yaw = radians(((yaw_in + 1.0f) * 0.5f * (_params.yaw_angle_max - _params.yaw_angle_min) + _params.yaw_angle_min)); | ||
| wrap_PI(mnt_target.angle_rad.yaw += _yaw_lock_heading_rad); |
Contributor
There was a problem hiding this comment.
Does this work? I would have expected something like
mnt_target.angle_rad.yaw = wrap_PI(mnt_target.angle_rad.yaw + _yaw_lock_heading_rad)
Hwurzburg
force-pushed
the
yaw_lock_dir_option
branch
from
43eab30 to
de075c8
Compare
Hwurzburg
force-pushed
the
yaw_lock_dir_option
branch
from
de075c8 to
c756016
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
4 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Adds a MOUNT_OPTION to change yaw_lock mount state which is used only in RC targeting and MAVLink from using North as the yaw target in RC targeting (MAVLINK provides the heading target) which captures heading on lock and uses it for the target instead of only pointing NORTH (which is useless). Now yaw will point in the same heading focussing on ROI as vehicle turns. Only affects yaw target.
Tested on CADDX