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29 lines
708 B
29 lines
708 B
#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.throttle_allows_nudging = false; |
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plane.auto_throttle_mode = false; |
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plane.auto_navigation_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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