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Copter: add angle inputs to Loiter

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Leonard Hall 2017-11-11 01:53:18 +10:30 committed by Randy Mackay
parent 9544b1763b
commit 1540f98888
1 changed files with 7 additions and 1 deletions
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8
ArduCopter/mode_loiter.cpp
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@ -69,6 +69,8 @@ void Copter::ModeLoiter::precision_loiter_xy()
void Copter::ModeLoiter::run() void Copter::ModeLoiter::run()
{ {
LoiterModeState loiter_state; LoiterModeState loiter_state;
float target_roll, target_pitch;
float target_yaw_rate = 0.0f; float target_yaw_rate = 0.0f;
float target_climb_rate = 0.0f; float target_climb_rate = 0.0f;
float takeoff_climb_rate = 0.0f; float takeoff_climb_rate = 0.0f;
@ -82,8 +84,12 @@ void Copter::ModeLoiter::run()
// apply SIMPLE mode transform to pilot inputs // apply SIMPLE mode transform to pilot inputs
update_simple_mode(); update_simple_mode();
// convert pilot input to lean angles
// ToDo: convert get_pilot_desired_lean_angles to return angles as floats
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, wp_nav->get_loiter_angle_max_cd());
// process pilot's roll and pitch input // process pilot's roll and pitch input
wp_nav->set_pilot_desired_acceleration(channel_roll->get_control_in(), channel_pitch->get_control_in()); wp_nav->set_pilot_desired_acceleration(target_roll, target_pitch);
// get pilot's desired yaw rate // get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());