mirror of
https://github.com/ArduPilot/ardupilot
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499fe79221
when ACRO_LOCKING=2 this implements a quaternion based ACRO controller, which allows for accurate rolls and knife edge
27 lines
652 B
C++
27 lines
652 B
C++
#include "mode.h"
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#include "Plane.h"
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bool ModeAcro::_enter()
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{
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plane.acro_state.locked_roll = false;
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plane.acro_state.locked_pitch = false;
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IGNORE_RETURN(plane.ahrs.get_quaternion(plane.acro_state.q));
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return true;
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}
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void ModeAcro::update()
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{
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// handle locked/unlocked control
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if (plane.acro_state.locked_roll) {
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plane.nav_roll_cd = plane.acro_state.locked_roll_err;
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} else {
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plane.nav_roll_cd = plane.ahrs.roll_sensor;
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}
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if (plane.acro_state.locked_pitch) {
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plane.nav_pitch_cd = plane.acro_state.locked_pitch_cd;
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} else {
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plane.nav_pitch_cd = plane.ahrs.pitch_sensor;
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}
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}
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