ardupilot/Rover/mode_hold.cpp

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#include "Rover.h"
void ModeHold::update()
{
float throttle = 0.0f;
// if vehicle is balance bot, calculate actual throttle required for balancing
if (rover.is_balancebot()) {
rover.balancebot_pitch_control(throttle);
}
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// relax mainsail
g2.motors.set_mainsail(100.0f);
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g2.motors.set_wingsail(0.0f);
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// hold position - stop motors and center steering
g2.motors.set_throttle(throttle);
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g2.motors.set_steering(0.0f);
}