mirror of https://github.com/ArduPilot/ardupilot
21 lines
487 B
C++
21 lines
487 B
C++
#include "mode.h"
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#include "Rover.h"
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void ModeHold::update()
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{
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float throttle = 0.0f;
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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(throttle);
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}
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// relax mainsail
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g2.motors.set_mainsail(100.0f);
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g2.motors.set_wingsail(0.0f);
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// hold position - stop motors and center steering
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g2.motors.set_throttle(throttle);
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g2.motors.set_steering(0.0f);
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}
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