mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.5 KiB
C++
47 lines
1.5 KiB
C++
#include "Sub.h"
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#include "Sub.h"
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bool ModeAcro::init(bool ignore_checks) {
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// set target altitude to zero for reporting
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position_control->set_pos_target_z_cm(0);
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// attitude hold inputs become thrust inputs in acro mode
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// set to neutral to prevent chaotic behavior (esp. roll/pitch)
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sub.set_neutral_controls();
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return true;
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}
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void ModeAcro::run()
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{
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float target_roll, target_pitch, target_yaw;
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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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// convert the input to the desired body frame rate
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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);
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// run attitude controller
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attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
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// output pilot's throttle without angle boost
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attitude_control->set_throttle_out(channel_throttle->norm_input(), false, g.throttle_filt);
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//control_in is range 0-1000
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//radio_in is raw pwm value
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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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