mirror of https://github.com/ArduPilot/ardupilot
27 lines
670 B
C++
27 lines
670 B
C++
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#include "mode.h"
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#include "Plane.h"
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bool ModeManual::_enter()
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{
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plane.throttle_allows_nudging = false;
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plane.auto_throttle_mode = false;
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plane.auto_navigation_mode = false;
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return true;
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}
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void ModeManual::_exit()
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{
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if (plane.g.auto_trim > 0) {
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plane.trim_radio();
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}
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}
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void ModeManual::update()
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{
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SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.channel_roll->get_control_in_zero_dz());
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SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.channel_pitch->get_control_in_zero_dz());
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plane.steering_control.steering = plane.steering_control.rudder = plane.channel_rudder->get_control_in_zero_dz();
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}
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