mirror of https://github.com/ArduPilot/ardupilot
21 lines
437 B
C++
21 lines
437 B
C++
|
#include "Blimp.h"
|
||
|
|
/*
|
||
|
|
* Init and run calls for rtl flight mode
|
||
|
|
*/
|
||
|
|
|
||
|
|
//Number of seconds of movement that the target position can be ahead of actual position.
|
||
|
|
#define POS_LAG 1
|
||
|
|
|
||
|
|
bool ModeRTL::init(bool ignore_checks)
|
||
|
|
{
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
//Runs the main rtl controller
|
||
|
|
void ModeRTL::run()
|
||
|
|
{
|
||
|
|
Vector3f target_pos = {0,0,0};
|
||
|
|
float target_yaw = 0;
|
||
|
|
blimp.loiter->run(target_pos, target_yaw, Vector4b{false,false,false,false});
|
||
|
|
}
|