mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
20 lines
469 B
C++
20 lines
469 B
C++
#include "Rover.h"
|
|
|
|
void ModeHold::update()
|
|
{
|
|
float throttle = 0.0f;
|
|
|
|
// if vehicle is balance bot, calculate actual throttle required for balancing
|
|
if (rover.is_balancebot()) {
|
|
rover.balancebot_pitch_control(throttle);
|
|
}
|
|
|
|
// relax mainsail
|
|
g2.motors.set_mainsail(100.0f);
|
|
g2.motors.set_wingsail(0.0f);
|
|
|
|
// hold position - stop motors and center steering
|
|
g2.motors.set_throttle(throttle);
|
|
g2.motors.set_steering(0.0f);
|
|
}
|