f6cb1b5ad6
Avoids the state getting stale, which it will with a failed attempt to go into qautotune, for example.
28 lines
625 B
C++
28 lines
625 B
C++
#include "mode.h"
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#include "Plane.h"
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bool ModeAcro::_enter()
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{
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plane.auto_throttle_mode = false;
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plane.acro_state.locked_roll = false;
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plane.acro_state.locked_pitch = false;
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return true;
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}
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void ModeAcro::update()
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{
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// handle locked/unlocked control
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if (plane.acro_state.locked_roll) {
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plane.nav_roll_cd = plane.acro_state.locked_roll_err;
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} else {
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plane.nav_roll_cd = plane.ahrs.roll_sensor;
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}
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if (plane.acro_state.locked_pitch) {
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plane.nav_pitch_cd = plane.acro_state.locked_pitch_cd;
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} else {
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plane.nav_pitch_cd = plane.ahrs.pitch_sensor;
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}
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}
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