ardupilot/ArduPlane/mode_loiter.cpp

26 lines
609 B
C++

#include "mode.h"
#include "Plane.h"
bool ModeLoiter::_enter()
{
plane.throttle_allows_nudging = true;
plane.auto_throttle_mode = true;
plane.auto_navigation_mode = true;
plane.do_loiter_at_location();
if (plane.g2.soaring_controller.is_active() && plane.g2.soaring_controller.suppress_throttle()) {
plane.g2.soaring_controller.init_thermalling();
plane.g2.soaring_controller.get_target(plane.next_WP_loc); // ahead on flight path
}
return true;
}
void ModeLoiter::update()
{
plane.calc_nav_roll();
plane.calc_nav_pitch();
plane.calc_throttle();
}