mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.5 KiB
C++
47 lines
1.5 KiB
C++
#include "Sub.h"
|
|
|
|
|
|
|
|
#include "Sub.h"
|
|
|
|
|
|
bool ModeAcro::init(bool ignore_checks) {
|
|
// set target altitude to zero for reporting
|
|
position_control->set_pos_desired_z_cm(0);
|
|
|
|
// attitude hold inputs become thrust inputs in acro mode
|
|
// set to neutral to prevent chaotic behavior (esp. roll/pitch)
|
|
sub.set_neutral_controls();
|
|
|
|
return true;
|
|
}
|
|
|
|
void ModeAcro::run()
|
|
{
|
|
float target_roll, target_pitch, target_yaw;
|
|
|
|
// if not armed set throttle to zero and exit immediately
|
|
if (!motors.armed()) {
|
|
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
|
|
attitude_control->set_throttle_out(0,true,g.throttle_filt);
|
|
attitude_control->relax_attitude_controllers();
|
|
return;
|
|
}
|
|
|
|
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
|
|
|
|
// convert the input to the desired body frame rate
|
|
get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);
|
|
|
|
// run attitude controller
|
|
attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
|
|
|
|
// output pilot's throttle without angle boost
|
|
attitude_control->set_throttle_out(channel_throttle->norm_input(), false, g.throttle_filt);
|
|
|
|
//control_in is range 0-1000
|
|
//radio_in is raw pwm value
|
|
motors.set_forward(channel_forward->norm_input());
|
|
motors.set_lateral(channel_lateral->norm_input());
|
|
}
|