mirror of https://github.com/ArduPilot/ardupilot
41 lines
1.1 KiB
C++
41 lines
1.1 KiB
C++
#include "mode.h"
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#include "Plane.h"
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bool ModeCruise::_enter()
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{
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plane.throttle_allows_nudging = false;
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plane.auto_throttle_mode = true;
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plane.auto_navigation_mode = false;
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plane.cruise_state.locked_heading = false;
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plane.cruise_state.lock_timer_ms = 0;
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// for ArduSoar soaring_controller
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plane.g2.soaring_controller.init_cruising();
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plane.set_target_altitude_current();
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return true;
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}
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void ModeCruise::update()
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{
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/*
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in CRUISE mode we use the navigation code to control
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roll when heading is locked. Heading becomes unlocked on
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any aileron or rudder input
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*/
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if (plane.channel_roll->get_control_in() != 0 || plane.channel_rudder->get_control_in() != 0) {
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plane.cruise_state.locked_heading = false;
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plane.cruise_state.lock_timer_ms = 0;
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}
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if (!plane.cruise_state.locked_heading) {
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plane.nav_roll_cd = plane.channel_roll->norm_input() * plane.roll_limit_cd;
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plane.update_load_factor();
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} else {
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plane.calc_nav_roll();
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}
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plane.update_fbwb_speed_height();
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}
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