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23 lines
661 B
C++
23 lines
661 B
C++
#include "Tracker.h"
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/*
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* Manual control mode
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*/
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/*
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* update_manual - runs the manual controller
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* called at 50hz while control_mode is 'MANUAL'
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*/
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void Tracker::update_manual(void)
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{
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// copy yaw and pitch input to output
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SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_yaw, RC_Channels::rc_channel(CH_YAW)->get_radio_in());
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SRV_Channels::constrain_pwm(SRV_Channel::k_tracker_yaw);
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SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_pitch, RC_Channels::rc_channel(CH_PITCH)->get_radio_in());
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SRV_Channels::constrain_pwm(SRV_Channel::k_tracker_pitch);
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SRV_Channels::calc_pwm();
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SRV_Channels::output_ch_all();
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}
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