mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 07:28:29 -04:00
485eb3fa88
added get desired roll and pitch Motors library adds set and get methods for roll and pitch added roll and pitch to get_control_output get_control_output returns roll and pitch values
39 lines
1.2 KiB
C++
39 lines
1.2 KiB
C++
#include "mode.h"
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#include "Rover.h"
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void ModeManual::_exit()
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{
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// clear lateral when exiting manual mode
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g2.motors.set_lateral(0);
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}
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void ModeManual::update()
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{
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float desired_steering, desired_throttle, desired_lateral;
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get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
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get_pilot_desired_lateral(desired_lateral);
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// if vehicle is balance bot, calculate actual throttle required for balancing
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if (rover.is_balancebot()) {
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rover.balancebot_pitch_control(desired_throttle);
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}
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// walking robots support roll and pitch
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float desired_roll, desired_pitch;
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get_pilot_desired_roll_and_pitch(desired_roll, desired_pitch);
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g2.motors.set_roll(desired_roll);
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g2.motors.set_pitch(desired_pitch);
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// set sailboat sails
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float desired_mainsail;
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float desired_wingsail;
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g2.sailboat.get_pilot_desired_mainsail(desired_mainsail, desired_wingsail);
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g2.motors.set_mainsail(desired_mainsail);
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g2.motors.set_wingsail(desired_wingsail);
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// copy RC scaled inputs to outputs
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g2.motors.set_throttle(desired_throttle);
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g2.motors.set_steering(desired_steering, false);
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g2.motors.set_lateral(desired_lateral);
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}
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