ardupilot/ArduPlane/mode_qstabilize.cpp

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#include "mode.h"
#include "Plane.h"
bool ModeQStabilize::_enter()
{
plane.throttle_allows_nudging = true;
plane.auto_navigation_mode = false;
if (!plane.quadplane.init_mode() && plane.previous_mode != nullptr) {
plane.control_mode = plane.previous_mode;
} else {
plane.auto_throttle_mode = false;
plane.auto_state.vtol_mode = true;
}
return true;
}
void ModeQStabilize::update()
{
// set nav_roll and nav_pitch using sticks
int16_t roll_limit = MIN(plane.roll_limit_cd, plane.quadplane.aparm.angle_max);
float pitch_input = plane.channel_pitch->norm_input();
// Scale from normalized input [-1,1] to centidegrees
if (plane.quadplane.tailsitter_active()) {
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// separate limit for tailsitter roll, if set
if (plane.quadplane.tailsitter.max_roll_angle > 0) {
roll_limit = plane.quadplane.tailsitter.max_roll_angle * 100.0f;
}
// angle max for tailsitter pitch
plane.nav_pitch_cd = pitch_input * plane.quadplane.aparm.angle_max;
} else {
// pitch is further constrained by LIM_PITCH_MIN/MAX which may impose
// tighter (possibly asymmetrical) limits than Q_ANGLE_MAX
if (pitch_input > 0) {
plane.nav_pitch_cd = pitch_input * MIN(plane.aparm.pitch_limit_max_cd, plane.quadplane.aparm.angle_max);
} else {
plane.nav_pitch_cd = pitch_input * MIN(-plane.pitch_limit_min_cd, plane.quadplane.aparm.angle_max);
}
plane.nav_pitch_cd = constrain_int32(plane.nav_pitch_cd, plane.pitch_limit_min_cd, plane.aparm.pitch_limit_max_cd.get());
}
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plane.nav_roll_cd = (plane.channel_roll->get_control_in() / 4500.0) * roll_limit;
plane.nav_roll_cd = constrain_int32(plane.nav_roll_cd, -roll_limit, roll_limit);
}