ardupilot/Blimp/mode_land.cpp

25 lines
634 B
C++

#include "Blimp.h"
/*
* Init and run calls for land flight mode
*/
// Runs the main land controller
void ModeLand::run()
{
//Stop moving
motors->right_out = 0;
motors->front_out = 0;
motors->yaw_out = 0;
motors->down_out = 0;
}
// set_mode_land_with_pause - sets mode to LAND and triggers 4 second delay before descent starts
// this is always called from a failsafe so we trigger notification to pilot
void Blimp::set_mode_land_with_pause(ModeReason reason)
{
set_mode(Mode::Number::LAND, reason);
//TODO: Add pause
// alert pilot to mode change
AP_Notify::events.failsafe_mode_change = 1;
}