ardupilot/ArduPlane/mode_manual.cpp

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#include "mode.h"
#include "Plane.h"
bool ModeManual::_enter()
{
plane.throttle_allows_nudging = false;
plane.auto_throttle_mode = false;
plane.auto_navigation_mode = false;
return true;
}
void ModeManual::_exit()
{
if (plane.g.auto_trim > 0) {
plane.trim_radio();
}
}
void ModeManual::update()
{
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.channel_roll->get_control_in_zero_dz());
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.channel_pitch->get_control_in_zero_dz());
plane.steering_control.steering = plane.steering_control.rudder = plane.channel_rudder->get_control_in_zero_dz();
}