ardupilot/ArduPlane/mode_qacro.cpp

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#include "mode.h"
#include "Plane.h"
bool ModeQAcro::_enter()
{
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if (!plane.quadplane.init_mode() && plane.previous_mode != nullptr) {
plane.control_mode = plane.previous_mode;
} else {
plane.auto_state.vtol_mode = true;
}
return true;
}
void ModeQAcro::update()
{
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// get nav_roll and nav_pitch from multicopter attitude controller
Vector3f att_target = plane.quadplane.attitude_control->get_att_target_euler_cd();
plane.nav_pitch_cd = att_target.y;
plane.nav_roll_cd = att_target.x;
return;
}