mirror of https://github.com/ArduPilot/ardupilot
37 lines
1.0 KiB
C++
37 lines
1.0 KiB
C++
#include "mode.h"
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#include "Plane.h"
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bool ModeRTL::_enter()
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{
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plane.throttle_allows_nudging = true;
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plane.auto_throttle_mode = true;
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plane.auto_navigation_mode = true;
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plane.prev_WP_loc = plane.current_loc;
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plane.do_RTL(plane.get_RTL_altitude());
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plane.rtl.done_climb = false;
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return true;
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}
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void ModeRTL::update()
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{
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plane.calc_nav_roll();
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plane.calc_nav_pitch();
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plane.calc_throttle();
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if (plane.g2.rtl_climb_min > 0) {
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/*
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when RTL first starts limit bank angle to LEVEL_ROLL_LIMIT
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until we have climbed by RTL_CLIMB_MIN meters
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*/
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if (!plane.rtl.done_climb && (plane.current_loc.alt - plane.prev_WP_loc.alt)*0.01 > plane.g2.rtl_climb_min) {
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plane.rtl.done_climb = true;
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}
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if (!plane.rtl.done_climb) {
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plane.roll_limit_cd = MIN(plane.roll_limit_cd, plane.g.level_roll_limit*100);
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plane.nav_roll_cd = constrain_int32(plane.nav_roll_cd, -plane.roll_limit_cd, plane.roll_limit_cd);
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}
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}
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}
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