#include "Sub.h" bool ModeManual::init(bool ignore_checks) { // set target altitude to zero for reporting position_control->set_pos_desired_z_cm(0); // attitude hold inputs become thrust inputs in manual mode // set to neutral to prevent chaotic behavior (esp. roll/pitch) sub.set_neutral_controls(); return true; } // manual_run - runs the manual (passthrough) controller // should be called at 100hz or more void ModeManual::run() { // if not armed set throttle to zero and exit immediately if (!sub.motors.armed()) { sub.motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE); attitude_control->set_throttle_out(0,true,g.throttle_filt); attitude_control->relax_attitude_controllers(); return; } sub.motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); sub.motors.set_roll(channel_roll->norm_input()); sub.motors.set_pitch(channel_pitch->norm_input()); sub.motors.set_yaw(channel_yaw->norm_input() * g.acro_yaw_p / ACRO_YAW_P); sub.motors.set_throttle(channel_throttle->norm_input()); sub.motors.set_forward(channel_forward->norm_input()); sub.motors.set_lateral(channel_lateral->norm_input()); }