ardupilot/ArduPlane/mode_qhover.cpp

39 lines
1.1 KiB
C++
Raw Normal View History

#include "mode.h"
#include "Plane.h"
bool ModeQHover::_enter()
{
return plane.mode_qstabilize._enter();
}
// init quadplane hover mode
void ModeQHover::init()
{
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
quadplane.set_climb_rate_cms(0, false);
quadplane.init_throttle_wait();
}
void ModeQHover::update()
{
plane.mode_qstabilize.update();
}
/*
control QHOVER mode
*/
void ModeQHover::run()
{
if (quadplane.throttle_wait) {
quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
attitude_control->set_throttle_out(0, true, 0);
quadplane.relax_attitude_control();
pos_control->relax_z_controller(0);
} else {
quadplane.hold_hover(quadplane.get_pilot_desired_climb_rate_cms());
}
}