mirror of https://github.com/ArduPilot/ardupilot
22 lines
399 B
C++
22 lines
399 B
C++
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#include "mode.h"
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#include "Plane.h"
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bool ModeRTL::_enter()
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{
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plane.throttle_allows_nudging = true;
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plane.auto_throttle_mode = true;
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plane.auto_navigation_mode = true;
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plane.prev_WP_loc = plane.current_loc;
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plane.do_RTL(plane.get_RTL_altitude());
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return true;
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}
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void ModeRTL::update()
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{
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plane.calc_nav_roll();
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plane.calc_nav_pitch();
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plane.calc_throttle();
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}
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