mirror of https://github.com/ArduPilot/ardupilot
29 lines
612 B
C++
29 lines
612 B
C++
#include "mode.h"
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#include "Plane.h"
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bool ModeFBWB::_enter()
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{
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plane.throttle_allows_nudging = false;
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plane.auto_throttle_mode = true;
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plane.auto_navigation_mode = false;
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#if SOARING_ENABLED == ENABLED
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// for ArduSoar soaring_controller
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plane.g2.soaring_controller.init_cruising();
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#endif
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plane.set_target_altitude_current();
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return true;
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}
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void ModeFBWB::update()
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{
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// Thanks to Yury MonZon for the altitude limit code!
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plane.nav_roll_cd = plane.channel_roll->norm_input() * plane.roll_limit_cd;
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plane.update_load_factor();
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plane.update_fbwb_speed_height();
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}
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