2019-01-15 13:46:13 -04:00
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#include "mode.h"
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#include "Plane.h"
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bool ModeFBWB::_enter()
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{
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2020-09-23 05:16:45 -03:00
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#if HAL_SOARING_ENABLED
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2019-01-15 13:46:13 -04:00
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// for ArduSoar soaring_controller
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plane.g2.soaring_controller.init_cruising();
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2019-04-07 18:56:08 -03:00
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#endif
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2019-01-15 13:46:13 -04:00
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plane.set_target_altitude_current();
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return true;
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}
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void ModeFBWB::update()
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{
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// Thanks to Yury MonZon for the altitude limit code!
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plane.nav_roll_cd = plane.channel_roll->norm_input() * plane.roll_limit_cd;
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plane.update_load_factor();
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plane.update_fbwb_speed_height();
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}
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