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Plane: in QACRO mode, use multicopter attitude target to set nav_roll/pitch

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Mark Whitehorn 2019-04-11 16:48:27 -06:00 committed by Andrew Tridgell
parent 4a47127c58
commit 3e2a253f4a
1 changed files with 7 additions and 0 deletions
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7
ArduPlane/mode_qstabilize.cpp
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@ -17,6 +17,13 @@ bool ModeQStabilize::_enter()
void ModeQStabilize::update()
{
if (plane.quadplane.tailsitter_active() && (plane.control_mode == &plane.mode_qacro)) {
// get nav_roll and nav_pitch from multicopter attitude controller
Vector3f att_target = plane.quadplane.attitude_control->get_att_target_euler_cd();
plane.nav_pitch_cd = att_target.y;
plane.nav_roll_cd = att_target.x;
return;
}
// set nav_roll and nav_pitch using sticks
int16_t roll_limit = MIN(plane.roll_limit_cd, plane.quadplane.aparm.angle_max);
plane.nav_roll_cd = (plane.channel_roll->get_control_in() / 4500.0) * roll_limit;