mirror of https://github.com/ArduPilot/ardupilot
36 lines
1.2 KiB
C++
36 lines
1.2 KiB
C++
#include "Sub.h"
|
|
|
|
|
|
bool ModeManual::init(bool ignore_checks) {
|
|
// set target altitude to zero for reporting
|
|
position_control->set_pos_target_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());
|
|
}
|