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Copter: Configurable yaw offset for DO_SET_ROI #28486

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Copter: Configurable yaw offset for DO_SET_ROI #28486

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8 changes: 8 additions & 0 deletions ArduCopter/Parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1232,6 +1232,14 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = {
// @User: Advanced
AP_GROUPINFO("FS_EKF_FILT", 8, ParametersG2, fs_ekf_filt_hz, FS_EKF_FILT_DEFAULT),

// @Param: ROI_YAW_OFFSET
// @DisplayName: ROI yaw offset
// @Description: Offset applied to yaw when pointing to region of interest. Zero offset points nose at ROI.
// @Range: -18000 18000
// @Units: cdeg
// @User: Advanced
AP_GROUPINFO("ROI_YAW_OFFSET", 9, ParametersG2, roi_yaw_offset, 0),

// ID 62 is reserved for the AP_SUBGROUPEXTENSION

AP_GROUPEND
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2 changes: 2 additions & 0 deletions ArduCopter/Parameters.h
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Expand Up @@ -676,6 +676,8 @@ class ParametersG2 {
// EKF variance filter cutoff
AP_Float fs_ekf_filt_hz;

AP_Float roi_yaw_offset;

#if WEATHERVANE_ENABLED
AC_WeatherVane weathervane;
#endif
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4 changes: 3 additions & 1 deletion ArduCopter/autoyaw.cpp
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Expand Up @@ -5,7 +5,9 @@ Mode::AutoYaw Mode::auto_yaw;
// roi_yaw - returns heading towards location held in roi
float Mode::AutoYaw::roi_yaw() const
{
return get_bearing_cd(copter.inertial_nav.get_position_xy_cm(), roi.xy());
float yaw = get_bearing_cd(copter.inertial_nav.get_position_xy_cm(), roi.xy());
yaw += copter.g2.roi_yaw_offset;
return wrap_360_cd(yaw);
}

// returns a yaw in degrees, direction of vehicle travel:
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