f6cb1b5ad6
Avoids the state getting stale, which it will with a failed attempt to go into qautotune, for example.
35 lines
741 B
C++
35 lines
741 B
C++
#include "mode.h"
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#include "Plane.h"
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bool ModeGuided::_enter()
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{
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plane.auto_throttle_mode = true;
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plane.guided_throttle_passthru = false;
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/*
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when entering guided mode we set the target as the current
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location. This matches the behaviour of the copter code
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*/
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plane.guided_WP_loc = plane.current_loc;
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plane.set_guided_WP();
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return true;
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}
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void ModeGuided::update()
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{
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if (plane.auto_state.vtol_loiter && plane.quadplane.available()) {
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plane.quadplane.guided_update();
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} else {
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plane.calc_nav_roll();
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plane.calc_nav_pitch();
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plane.calc_throttle();
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}
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}
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void ModeGuided::navigate()
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{
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// Zero indicates to use WP_LOITER_RAD
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plane.update_loiter(0);
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}
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