mirror of https://github.com/ArduPilot/ardupilot
32 lines
856 B
C++
32 lines
856 B
C++
#include "mode.h"
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#include "Plane.h"
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void ModeManual::update()
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{
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SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.roll_in_expo(false));
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SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.pitch_in_expo(false));
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output_rudder_and_steering(plane.rudder_in_expo(false));
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const float throttle = plane.get_throttle_input(true);
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
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plane.nav_roll_cd = ahrs.roll_sensor;
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plane.nav_pitch_cd = ahrs.pitch_sensor;
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}
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void ModeManual::run()
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{
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reset_controllers();
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}
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// true if throttle min/max limits should be applied
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bool ModeManual::use_throttle_limits() const
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{
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#if HAL_QUADPLANE_ENABLED
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if (quadplane.available() && quadplane.option_is_set(QuadPlane::OPTION::IDLE_GOV_MANUAL)) {
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return true;
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}
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#endif
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return false;
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}
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