ardupilot/ArduPlane/mode_qautotune.cpp

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#include "mode.h"
#include "Plane.h"
#include "qautotune.h"
#if QAUTOTUNE_ENABLED
bool ModeQAutotune::_enter()
{
2021-09-04 16:20:33 -03:00
#if QAUTOTUNE_ENABLED
return quadplane.qautotune.init();
#else
return false;
#endif
}
void ModeQAutotune::update()
{
plane.mode_qstabilize.update();
}
void ModeQAutotune::run()
{
const uint32_t now = AP_HAL::millis();
if (quadplane.tailsitter.in_vtol_transition(now)) {
// Tailsitters in FW pull up phase of VTOL transition run FW controllers
Mode::run();
return;
}
#if QAUTOTUNE_ENABLED
quadplane.qautotune.run();
#endif
// Stabilize with fixed wing surfaces
plane.stabilize_roll();
plane.stabilize_pitch();
}
void ModeQAutotune::_exit()
{
#if QAUTOTUNE_ENABLED
plane.quadplane.qautotune.stop();
#endif
}
#endif