mirror of https://github.com/ArduPilot/ardupilot
24 lines
658 B
C++
24 lines
658 B
C++
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#include "Blimp.h"
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/*
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* Init and run calls for stabilize flight mode
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*/
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// manual_run - runs the main manual controller
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// should be called at 100hz or more
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void ModeManual::run()
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{
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motors->right_out = channel_right->get_control_in();
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motors->front_out = channel_front->get_control_in();
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motors->yaw_out = channel_yaw->get_control_in();
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motors->down_out = channel_down->get_control_in();
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if (!motors->armed()) {
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// Motors should be Stopped
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motors->set_desired_spool_state(Fins::DesiredSpoolState::SHUT_DOWN);
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} else {
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motors->set_desired_spool_state(Fins::DesiredSpoolState::THROTTLE_UNLIMITED);
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}
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}
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