Feature Request
Copter's circle mode accepts user input for roll, pitch, yaw and throttle. CIRCLE_OPTIONS allows the roll and pitch to be ignored but it does not seem possible to ignore the yaw and throttle.
We should add support for ignoring the yaw and throttle but we should first consider what is the best user interface:
- Extend the existing CIRCLE_OPTION bit0 to cover yaw and throttle as well?
- Add 1 or two new bits to cover yaw and throttle?
- For Auto mode's Loiter-Turns throttle is always ignored and yaw can be ignored by setting AUTO_OPTIONS's "Ignore Pilot Yaw" bit. If implement one of the above changes would this still apply or would the CIRCLE_OPTIONS be used instead? For RTL-within-Auto, the RTL_OPTIONS is used. For Land-within-Auto LAND_REPOSITION is used.
My opinion is that we should re-use the existing CIRCLE_OPTION bit0 ("manual control") to cover yaw and throttle and see if users are happy with this during a beta release. If they're not happy it will likely be because they want the yaw control separated so we would add a new "Ignore Pilot Yaw" bit to CIRCLE_OPTIONS and then also use that during Auto mode's Loiter-Turns commands
This issue comes in response to this 4.7.0 beta testing discussion.
Platform
Feature Request
Copter's circle mode accepts user input for roll, pitch, yaw and throttle. CIRCLE_OPTIONS allows the roll and pitch to be ignored but it does not seem possible to ignore the yaw and throttle.
We should add support for ignoring the yaw and throttle but we should first consider what is the best user interface:
My opinion is that we should re-use the existing CIRCLE_OPTION bit0 ("manual control") to cover yaw and throttle and see if users are happy with this during a beta release. If they're not happy it will likely be because they want the yaw control separated so we would add a new "Ignore Pilot Yaw" bit to CIRCLE_OPTIONS and then also use that during Auto mode's Loiter-Turns commands
This issue comes in response to this 4.7.0 beta testing discussion.
Platform