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ArduPlane: fix error in Tricks on a Switch qualifier

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This commit is contained in:
Henry Wurzburg 2022-02-07 14:29:39 -06:00 committed by Peter Barker
parent 425aef59dc
commit e82ad1ec24
2 changed files with 2 additions and 6 deletions
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2
ArduPlane/Plane.h
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@ -1140,7 +1140,7 @@ private:
// command throttle percentage and roll, pitch, yaw target
// rates. For use with scripting controllers
bool set_target_throttle_rate_rpy(float throttle_pct, float roll_rate_dps, float pitch_rate_dps, float yaw_rate_dps) override;
void set_target_throttle_rate_rpy(float throttle_pct, float roll_rate_dps, float pitch_rate_dps, float yaw_rate_dps) override;
bool nav_scripting_enable(uint8_t mode) override;
#endif

6
ArduPlane/commands_logic.cpp
View File

@ -1182,17 +1182,13 @@ void Plane::nav_script_time_done(uint16_t id)
}
// support for NAV_SCRIPTING mission command and aerobatics in other allowed modes
bool Plane::set_target_throttle_rate_rpy(float throttle_pct, float roll_rate_dps, float pitch_rate_dps, float yaw_rate_dps)
void Plane::set_target_throttle_rate_rpy(float throttle_pct, float roll_rate_dps, float pitch_rate_dps, float yaw_rate_dps)
{
if (!nav_scripting_active()) {
return false;
}
nav_scripting.roll_rate_dps = constrain_float(roll_rate_dps, -g.acro_roll_rate, g.acro_roll_rate);
nav_scripting.pitch_rate_dps = constrain_float(pitch_rate_dps, -g.acro_pitch_rate, g.acro_pitch_rate);
nav_scripting.yaw_rate_dps = constrain_float(yaw_rate_dps, -g.acro_yaw_rate, g.acro_yaw_rate);
nav_scripting.throttle_pct = throttle_pct;
nav_scripting.current_ms = AP_HAL::millis();
return true;
}
// enable NAV_SCRIPTING takeover in modes other than AUTO using script time mission commands