mirror of https://github.com/ArduPilot/ardupilot
27 lines
587 B
C++
27 lines
587 B
C++
#include "mode.h"
|
|
#include "Plane.h"
|
|
|
|
bool ModeAcro::_enter()
|
|
{
|
|
plane.acro_state.locked_roll = false;
|
|
plane.acro_state.locked_pitch = false;
|
|
|
|
return true;
|
|
}
|
|
|
|
void ModeAcro::update()
|
|
{
|
|
// handle locked/unlocked control
|
|
if (plane.acro_state.locked_roll) {
|
|
plane.nav_roll_cd = plane.acro_state.locked_roll_err;
|
|
} else {
|
|
plane.nav_roll_cd = plane.ahrs.roll_sensor;
|
|
}
|
|
if (plane.acro_state.locked_pitch) {
|
|
plane.nav_pitch_cd = plane.acro_state.locked_pitch_cd;
|
|
} else {
|
|
plane.nav_pitch_cd = plane.ahrs.pitch_sensor;
|
|
}
|
|
}
|
|
|