mirror of https://github.com/ArduPilot/ardupilot
45 lines
1.3 KiB
C++
45 lines
1.3 KiB
C++
#include "mode.h"
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#include "Plane.h"
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bool ModeTraining::_enter()
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{
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plane.throttle_allows_nudging = false;
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plane.auto_throttle_mode = false;
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plane.auto_navigation_mode = false;
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return true;
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}
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void ModeTraining::update()
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{
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plane.training_manual_roll = false;
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plane.training_manual_pitch = false;
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plane.update_load_factor();
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// if the roll is past the set roll limit, then
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// we set target roll to the limit
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if (plane.ahrs.roll_sensor >= plane.roll_limit_cd) {
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plane.nav_roll_cd = plane.roll_limit_cd;
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} else if (plane.ahrs.roll_sensor <= -plane.roll_limit_cd) {
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plane.nav_roll_cd = -plane.roll_limit_cd;
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} else {
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plane.training_manual_roll = true;
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plane.nav_roll_cd = 0;
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}
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// if the pitch is past the set pitch limits, then
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// we set target pitch to the limit
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if (plane.ahrs.pitch_sensor >= plane.aparm.pitch_limit_max_cd) {
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plane.nav_pitch_cd = plane.aparm.pitch_limit_max_cd;
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} else if (plane.ahrs.pitch_sensor <= plane.pitch_limit_min_cd) {
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plane.nav_pitch_cd = plane.pitch_limit_min_cd;
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} else {
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plane.training_manual_pitch = true;
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plane.nav_pitch_cd = 0;
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}
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if (plane.fly_inverted()) {
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plane.nav_pitch_cd = -plane.nav_pitch_cd;
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}
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}
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