mirror of https://github.com/ArduPilot/ardupilot
26 lines
756 B
C++
26 lines
756 B
C++
#include "mode.h"
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#include "Rover.h"
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void ModeManual::_exit()
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{
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// clear lateral when exiting manual mode
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g2.motors.set_lateral(0);
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}
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void ModeManual::update()
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{
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float desired_steering, desired_throttle, desired_lateral;
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get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
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get_pilot_desired_lateral(desired_lateral);
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// if vehicle is balance bot, calculate actual throttle required for balancing
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if (rover.is_balancebot()) {
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rover.balancebot_pitch_control(desired_throttle, rover.arming.is_armed());
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}
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// copy RC scaled inputs to outputs
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g2.motors.set_throttle(desired_throttle);
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g2.motors.set_steering(desired_steering, false);
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g2.motors.set_lateral(desired_lateral);
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}
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