ardupilot/APMrover2/mode_manual.cpp

21 lines
679 B
C++

#include "mode.h"
#include "Rover.h"
void ModeManual::update()
{
// check for radio failsafe
if (rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
g2.motors.set_throttle(0.0f);
g2.motors.set_steering(0.0f);
} else {
float desired_steering, desired_throttle;
get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
// copy RC scaled inputs to outputs
g2.motors.set_throttle(desired_throttle);
g2.motors.set_steering(desired_steering);
}
// mark us as in_reverse when using a negative throttle to stop AHRS getting off
rover.set_reverse(is_negative(g2.motors.get_throttle()));
}