ardupilot/ArduPlane/mode_guided.cpp

#include "mode.h"
#include "Plane.h"

bool ModeGuided::_enter()
{
    plane.guided_throttle_passthru = false;
    /*
      when entering guided mode we set the target as the current
      location. This matches the behaviour of the copter code
    */
    plane.guided_WP_loc = plane.current_loc;

    if (plane.quadplane.guided_mode_enabled()) {
        /*
          if using Q_GUIDED_MODE then project forward by the stopping distance
        */
        plane.guided_WP_loc.offset_bearing(degrees(plane.ahrs.groundspeed_vector().angle()),
                                           plane.quadplane.stopping_distance());
    }
    plane.set_guided_WP();
    return true;
}

void ModeGuided::update()
{
    if (plane.auto_state.vtol_loiter && plane.quadplane.available()) {
        plane.quadplane.guided_update();
    } else {
        plane.calc_nav_roll();
        plane.calc_nav_pitch();
        plane.calc_throttle();
    }
}

void ModeGuided::navigate()
{
    // Zero indicates to use WP_LOITER_RAD
    plane.update_loiter(0);
}