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38 lines
1.0 KiB
38 lines
1.0 KiB
8 years ago
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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control code for tailsitters. Enabled by setting Q_FRAME_CLASS=10
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*/
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#include "Plane.h"
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/*
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return true when flying a tailsitter
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*/
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bool QuadPlane::is_tailsitter(void)
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{
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return available() && frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER;
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}
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/*
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run output for tailsitters
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*/
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void QuadPlane::tailsitter_output(void)
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{
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if (is_tailsitter() && in_vtol_mode()) {
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motors_output();
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}
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}
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