mirror of https://github.com/ArduPilot/ardupilot
27 lines
703 B
C++
27 lines
703 B
C++
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#include "mode.h"
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#include "Plane.h"
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bool ModeCircle::_enter()
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{
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// the altitude to circle at is taken from the current altitude
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plane.throttle_allows_nudging = false;
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plane.auto_throttle_mode = true;
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plane.auto_navigation_mode = true;
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plane.next_WP_loc.alt = plane.current_loc.alt;
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return true;
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}
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void ModeCircle::update()
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{
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// we have no GPS installed and have lost radio contact
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// or we just want to fly around in a gentle circle w/o GPS,
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// holding altitude at the altitude we set when we
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// switched into the mode
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plane.nav_roll_cd = plane.roll_limit_cd / 3;
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plane.update_load_factor();
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plane.calc_nav_pitch();
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plane.calc_throttle();
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}
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