ardupilot/ArduPlane/mode_guided.cpp

40 lines
1.0 KiB
C++

#include "mode.h"
#include "Plane.h"
bool ModeGuided::_enter()
{
plane.guided_throttle_passthru = false;
/*
when entering guided mode we set the target as the current
location. This matches the behaviour of the copter code
*/
plane.guided_WP_loc = plane.current_loc;
if (plane.quadplane.guided_mode_enabled()) {
/*
if using Q_GUIDED_MODE then project forward by the stopping distance
*/
plane.guided_WP_loc.offset_bearing(degrees(plane.ahrs.groundspeed_vector().angle()),
plane.quadplane.stopping_distance());
}
plane.set_guided_WP();
return true;
}
void ModeGuided::update()
{
if (plane.auto_state.vtol_loiter && plane.quadplane.available()) {
plane.quadplane.guided_update();
} else {
plane.calc_nav_roll();
plane.calc_nav_pitch();
plane.calc_throttle();
}
}
void ModeGuided::navigate()
{
// Zero indicates to use WP_LOITER_RAD
plane.update_loiter(0);
}