ardupilot/APMrover2/mode_hold.cpp

21 lines
487 B
C++

#include "mode.h"
#include "Rover.h"
void ModeHold::update()
{
float throttle = 0.0f;
// if vehicle is balance bot, calculate actual throttle required for balancing
if (rover.is_balancebot()) {
rover.balancebot_pitch_control(throttle);
}
// relax mainsail
g2.motors.set_mainsail(100.0f);
g2.motors.set_wingsail(0.0f);
// hold position - stop motors and center steering
g2.motors.set_throttle(throttle);
g2.motors.set_steering(0.0f);
}