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Follow yaw
  • Hello!

    I'm trying to activate follow yaw mode using Serial API, my approach is this :
    - I set yaw and pitch to 0 using CONTROL_MODE_ANGLE
    cmd_sbgc.mode = SBGC_CONTROL_MODE_ANGLE;
    cmd_sbgc.anglePITCH = SBGC_DEGREE_TO_ANGLE(0);
    cmd_sbgc.angleYAW = SBGC_DEGREE_TO_ANGLE(0);
    SBGC_cmd_control_send(cmd_sbgc, sbgc_parser);

    - Set parameters to function SBGC_cmd_set_adj_vars_send
    SBGC_cmd_set_adj_vars_var_t ajd_vars[] = {
    {ADJ_VAR_FOLLOW_SPEED_YAW, 255},
    {ADJ_VAR_FOLLOW_LPF_YAW, 10},
    {ADJ_VAR_FOLLOW_EXPO_RATE, 60},
    {ADJ_VAR_FOLLOW_DEADBAND, 5},
    {ADJ_VAR_RC_FOLLOW_YAW, 1}
    };
    SBGC_cmd_set_adj_vars_send(ajd_vars, 5, sbgc_parser);

    - Let the pitch free to move, using joystick
    cmd_sbgc.mode = SBGC_CONTROL_MODE_RC;
    cmd_sbgc.anglePITCH = anglePITCH;
    SBGC_cmd_control_send(cmd_sbgc, sbgc_parser);

    With this code, the yaw is blocked and the pitch too.
    I've read in previous discussions that CMD_SET_VARS and CMD_CONTROL are concurrent and it's better to use MODE_RC however I don't seem to get any results…
    My questions :
    - Am I setting the right parameters to activate follow yaw ?
    - How can I use MODE_RC ?

    Thank you !