From eefa3b1ce436663e2d03a0e3c6644228d44aa4bb Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 21 Feb 2023 00:59:19 +0000
Subject: [PATCH] Plane: move training mode function to mode training

---
 ArduPlane/Attitude.cpp      | 34 ----------------------------------
 ArduPlane/mode_training.cpp | 32 ++++++++++++++++++++++++++++++++
 2 files changed, 32 insertions(+), 34 deletions(-)

diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index ac55d0f2c4..0b51098b43 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -334,40 +334,6 @@ void Plane::stabilize_yaw()
     calc_nav_yaw_coordinated();
 }
 
-
-/*
-  a special stabilization function for training mode
- */
-void ModeTraining::run()
-{
-    const float rexpo = plane.roll_in_expo(false);
-    const float pexpo = plane.pitch_in_expo(false);
-    if (plane.training_manual_roll) {
-        SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, rexpo);
-    } else {
-        // calculate what is needed to hold
-        plane.stabilize_roll();
-        if ((plane.nav_roll_cd > 0 && rexpo < SRV_Channels::get_output_scaled(SRV_Channel::k_aileron)) ||
-            (plane.nav_roll_cd < 0 && rexpo > SRV_Channels::get_output_scaled(SRV_Channel::k_aileron))) {
-            // allow user to get out of the roll
-            SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, rexpo);
-        }
-    }
-
-    if (plane.training_manual_pitch) {
-        SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, pexpo);
-    } else {
-        plane.stabilize_pitch();
-        if ((plane.nav_pitch_cd > 0 && pexpo < SRV_Channels::get_output_scaled(SRV_Channel::k_elevator)) ||
-            (plane.nav_pitch_cd < 0 && pexpo > SRV_Channels::get_output_scaled(SRV_Channel::k_elevator))) {
-            // allow user to get back to level
-            SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, pexpo);
-        }
-    }
-
-    plane.stabilize_yaw();
-}
-
 /*
   main stabilization function for all 3 axes
  */
diff --git a/ArduPlane/mode_training.cpp b/ArduPlane/mode_training.cpp
index 2c73c92d19..9215fe0aba 100644
--- a/ArduPlane/mode_training.cpp
+++ b/ArduPlane/mode_training.cpp
@@ -33,3 +33,35 @@ void ModeTraining::update()
     }
 }
 
+/*
+  a special stabilization function for training mode
+ */
+void ModeTraining::run()
+{
+    const float rexpo = plane.roll_in_expo(false);
+    const float pexpo = plane.pitch_in_expo(false);
+    if (plane.training_manual_roll) {
+        SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, rexpo);
+    } else {
+        // calculate what is needed to hold
+        plane.stabilize_roll();
+        if ((plane.nav_roll_cd > 0 && rexpo < SRV_Channels::get_output_scaled(SRV_Channel::k_aileron)) ||
+            (plane.nav_roll_cd < 0 && rexpo > SRV_Channels::get_output_scaled(SRV_Channel::k_aileron))) {
+            // allow user to get out of the roll
+            SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, rexpo);
+        }
+    }
+
+    if (plane.training_manual_pitch) {
+        SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, pexpo);
+    } else {
+        plane.stabilize_pitch();
+        if ((plane.nav_pitch_cd > 0 && pexpo < SRV_Channels::get_output_scaled(SRV_Channel::k_elevator)) ||
+            (plane.nav_pitch_cd < 0 && pexpo > SRV_Channels::get_output_scaled(SRV_Channel::k_elevator))) {
+            // allow user to get back to level
+            SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, pexpo);
+        }
+    }
+
+    plane.stabilize_yaw();
+}