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Stabilize mode - Custom yaw setpoint


I’d like to control the yaw setpoint of the robot in the Stabilize mode (ArduSub). Is there any kind of parameter which can be changed that affects current yaw setpoint during the mode’s operation?

I’m lookong for something similar to controlling the target altitude mentioned in: Depth-Hold mode custom depth/altitude

I believe you should be able to create a set_target_yaw function as a modified version of our example set_target_depth function, by changing the type_mask to ignore z and not ignore yaw, and set the yaw value with a passed in value.