ardupilot/APMrover2/mode_manual.cpp

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2017-07-18 23:17:45 -03:00
#include "mode.h"
#include "Rover.h"
void ModeManual::update()
{
// check for radio failsafe
if (rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
g2.motors.set_throttle(0.0f);
g2.motors.set_steering(0.0f);
} else {
// copy RC scaled inputs to outputs
g2.motors.set_throttle(channel_throttle->get_control_in());
g2.motors.set_steering(channel_steer->get_control_in());
}
// mark us as in_reverse when using a negative throttle to stop AHRS getting off
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rover.set_reverse(is_negative(g2.motors.get_throttle()));
}