mirror of
https://github.com/ArduPilot/ardupilot
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42 lines
1.3 KiB
C++
42 lines
1.3 KiB
C++
#include "Sub.h"
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// stabilize_init - initialise stabilize controller
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bool Sub::stabilize_init()
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{
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// set target altitude to zero for reporting
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pos_control.set_alt_target(0);
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last_roll = ahrs.roll_sensor;
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last_pitch = ahrs.pitch_sensor;
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last_yaw = ahrs.yaw_sensor;
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last_input_ms = AP_HAL::millis();
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return true;
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}
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// stabilize_run - runs the main stabilize controller
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// should be called at 100hz or more
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void Sub::stabilize_run()
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{
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// if not armed set throttle to zero and exit immediately
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if (!motors.armed()) {
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motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
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attitude_control.set_throttle_out(0,true,g.throttle_filt);
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attitude_control.relax_attitude_controllers();
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last_roll = ahrs.roll_sensor;
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last_pitch = ahrs.pitch_sensor;
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last_yaw = ahrs.yaw_sensor;
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return;
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}
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// Vehicle is armed, motors are free to run
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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handle_attitude();
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// output pilot's throttle
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attitude_control.set_throttle_out(channel_throttle->norm_input(), false, g.throttle_filt);
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//control_in is range -1000-1000
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//radio_in is raw pwm value
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motors.set_forward(channel_forward->norm_input());
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motors.set_lateral(channel_lateral->norm_input());
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}
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