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Plane: Training: output rudder from mode run function

This commit is contained in:
Iampete1 2023-06-28 17:03:09 +01:00 committed by Andrew Tridgell
parent 9a68b78973
commit f89563f987
2 changed files with 7 additions and 5 deletions
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7
ArduPlane/mode_training.cpp
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@ -63,5 +63,10 @@ void ModeTraining::run()
} }
} }
plane.stabilize_yaw(); // Always manual rudder control
const float pilot_rudder = plane.rudder_in_expo(false);
plane.steering_control.rudder = pilot_rudder;
plane.steering_control.steering = pilot_rudder;
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, pilot_rudder);
} }

5
ArduPlane/servos.cpp
View File

@ -837,10 +837,7 @@ void Plane::set_servos(void)
// clear ground_steering to ensure manual control if the yaw stabilizer doesn't run // clear ground_steering to ensure manual control if the yaw stabilizer doesn't run
steering_control.ground_steering = false; steering_control.ground_steering = false;
if (control_mode == &mode_training) {
steering_control.rudder = rudder_in_expo(false);
}
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, steering_control.rudder); SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, steering_control.rudder);
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, steering_control.steering); SRV_Channels::set_output_scaled(SRV_Channel::k_steering, steering_control.steering);