mirror of https://github.com/ArduPilot/ardupilot
37 lines
1.2 KiB
C++
37 lines
1.2 KiB
C++
#include "Sub.h"
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// manual_init - initialise manual controller
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bool Sub::manual_init()
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{
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// set target altitude to zero for reporting
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pos_control.set_alt_target(0);
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// attitude hold inputs become thrust inputs in manual mode
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// set to neutral to prevent chaotic behavior (esp. roll/pitch)
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set_neutral_controls();
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return true;
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}
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// manual_run - runs the manual (passthrough) controller
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// should be called at 100hz or more
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void Sub::manual_run()
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{
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// if not armed set throttle to zero and exit immediately
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if (!motors.armed()) {
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motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
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attitude_control.set_throttle_out(0,true,g.throttle_filt);
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attitude_control.relax_attitude_controllers();
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return;
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}
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motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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motors.set_roll(channel_roll->norm_input());
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motors.set_pitch(channel_pitch->norm_input());
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motors.set_yaw(channel_yaw->norm_input() * g.acro_yaw_p / ACRO_YAW_P);
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motors.set_throttle(channel_throttle->norm_input());
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motors.set_forward(channel_forward->norm_input());
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motors.set_lateral(channel_lateral->norm_input());
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}
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