#include "mode.h" #include "Plane.h" #if HAL_QUADPLANE_ENABLED bool ModeQHover::_enter() { // set vertical speed and acceleration limits pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z); pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z); quadplane.set_climb_rate_cms(0); quadplane.init_throttle_wait(); return true; } void ModeQHover::update() { plane.mode_qstabilize.update(); } /* control QHOVER mode */ void ModeQHover::run() { const uint32_t now = AP_HAL::millis(); if (quadplane.tailsitter.in_vtol_transition(now)) { // Tailsitters in FW pull up phase of VTOL transition run FW controllers Mode::run(); return; } if (quadplane.throttle_wait) { quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE); attitude_control->set_throttle_out(0, true, 0); quadplane.relax_attitude_control(); pos_control->relax_z_controller(0); } else { quadplane.hold_hover(quadplane.get_pilot_desired_climb_rate_cms()); } // Stabilize with fixed wing surfaces plane.stabilize_roll(); plane.stabilize_pitch(); } #endif