Copter: integrate AttControl's set_yaw_target_to_current_heading

ArduCopter/control_acro.pde

@@ -21,6 +21,7 @@ static void acro_run()
     // if motors not running reset angle targets
     if(!motors.armed() || g.rc_3.control_in <= 0) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         return;
     }

ArduCopter/control_althold.pde

@@ -29,6 +29,7 @@ static void althold_run()
     if(!ap.auto_armed) {
         // To-Do: reset altitude target if we're somehow not landed?
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         return;
     }
@@ -57,6 +58,7 @@ static void althold_run()
     // reset target lean angles and heading while landed
     if (ap.land_complete) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         // move throttle to minimum to keep us on the ground
         attitude_control.set_throttle_out(0, false);
     }else{

ArduCopter/control_auto.pde

@@ -98,6 +98,7 @@ static void auto_takeoff_run()
     if(!ap.auto_armed) {
         // reset attitude control targets
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         // tell motors to do a slow start
         motors.slow_start(true);
@@ -146,6 +147,7 @@ static void auto_wp_run()
         // To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
         //    (of course it would be better if people just used take-off)
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         // tell motors to do a slow start
         motors.slow_start(true);
@@ -203,6 +205,7 @@ static void auto_spline_run()
         // To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
         //    (of course it would be better if people just used take-off)
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         // tell motors to do a slow start
         motors.slow_start(true);
@@ -268,6 +271,7 @@ static void auto_land_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         // set target to current position
         wp_nav.init_loiter_target();

ArduCopter/control_autotune.pde

@@ -214,6 +214,7 @@ static void autotune_run()
     // this should not actually be possible because of the autotune_init() checks
     if(!ap.auto_armed) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         return;
     }
@@ -241,6 +242,7 @@ static void autotune_run()
     // reset target lean angles and heading while landed
     if (ap.land_complete) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         // move throttle to minimum to keep us on the ground
         attitude_control.set_throttle_out(0, false);
     }else{

ArduCopter/control_circle.pde

@@ -36,6 +36,7 @@ static void circle_run()
     if(!ap.auto_armed || ap.land_complete) {
         // To-Do: add some initialisation of position controllers
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         return;
     }

ArduCopter/control_drift.pde

@@ -45,6 +45,7 @@ static void drift_run()
     // if not armed or landed and throttle at zero, set throttle to zero and exit immediately
     if(!motors.armed() || (ap.land_complete && g.rc_3.control_in <= 0)) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         return;
     }

ArduCopter/control_guided.pde

@@ -54,6 +54,7 @@ static void guided_run()
     if(!ap.auto_armed) {
         // To-Do: reset waypoint controller?
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         // To-Do: handle take-offs - these may not only be immediately after auto_armed becomes true
         return;

ArduCopter/control_hybrid.pde

@@ -158,6 +158,7 @@ static void hybrid_run()
     if(!ap.auto_armed || !inertial_nav.position_ok()) {
         wp_nav.init_loiter_target();
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         return;
     }
@@ -186,6 +187,7 @@ static void hybrid_run()
     if (ap.land_complete) {
         wp_nav.init_loiter_target();
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         return;
     }else{

ArduCopter/control_land.pde

@@ -48,6 +48,7 @@ static void land_gps_run()
     // if not auto armed or landed set throttle to zero and exit immediately
     if(!ap.auto_armed || ap.land_complete) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         wp_nav.init_loiter_target();
 
@@ -103,6 +104,7 @@ static void land_nogps_run()
     // if not auto armed or landed set throttle to zero and exit immediately
     if(!ap.auto_armed || ap.land_complete) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
 #if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
         // disarm when the landing detector says we've landed and throttle is at minimum

ArduCopter/control_loiter.pde

@@ -36,6 +36,7 @@ static void loiter_run()
     if(!ap.auto_armed || !inertial_nav.position_ok()) {
         wp_nav.init_loiter_target();
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         return;
     }
@@ -70,6 +71,7 @@ static void loiter_run()
     if (ap.land_complete) {
         wp_nav.init_loiter_target();
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
     }else{
         // run loiter controller

ArduCopter/control_ofloiter.pde

@@ -37,6 +37,7 @@ static void ofloiter_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         reset_optflow_I();
         return;
@@ -68,6 +69,7 @@ static void ofloiter_run()
     // when landed reset targets and output zero throttle
     if (ap.land_complete) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         reset_optflow_I();
     }else{

ArduCopter/control_rtl.pde

@@ -128,6 +128,7 @@ static void rtl_climb_return_run()
     if(!ap.auto_armed) {
         // reset attitude control targets
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         // To-Do: re-initialise wpnav targets
         return;
@@ -185,6 +186,7 @@ static void rtl_loiterathome_run()
     if(!ap.auto_armed) {
         // reset attitude control targets
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         // To-Do: re-initialise wpnav targets
         return;
@@ -252,6 +254,7 @@ static void rtl_descent_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed || !inertial_nav.position_ok()) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         // set target to current position
         wp_nav.init_loiter_target();
@@ -311,6 +314,7 @@ static void rtl_land_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed || !inertial_nav.position_ok()) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         // set target to current position
         wp_nav.init_loiter_target();

ArduCopter/control_sport.pde

@@ -27,6 +27,7 @@ static void sport_run()
     // if not armed or throttle at zero, set throttle to zero and exit immediately
     if(!motors.armed() || g.rc_3.control_in <= 0) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         return;
     }
@@ -76,6 +77,7 @@ static void sport_run()
     // reset target lean angles and heading while landed
     if (ap.land_complete) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         // move throttle to minimum to keep us on the ground
         attitude_control.set_throttle_out(0, false);
     }else{

ArduCopter/control_stabilize.pde

@@ -26,6 +26,7 @@ static void stabilize_run()
     // if not armed or throttle at zero, set throttle to zero and exit immediately
     if(!motors.armed() || g.rc_3.control_in <= 0) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
         attitude_control.set_throttle_out(0, false);
         return;
     }
@@ -46,6 +47,7 @@ static void stabilize_run()
     // reset target lean angles and heading while landed
     if (ap.land_complete) {
         attitude_control.relax_bf_rate_controller();
+        attitude_control.set_yaw_target_to_current_heading();
     }else{
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());