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26 lines
674 B
26 lines
674 B
#include "mode.h" |
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#include "Plane.h" |
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bool ModeQAcro::_enter() |
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{ |
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plane.throttle_allows_nudging = false; |
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plane.auto_navigation_mode = false; |
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if (!plane.quadplane.init_mode() && plane.previous_mode != nullptr) { |
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plane.control_mode = plane.previous_mode; |
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} else { |
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plane.auto_throttle_mode = false; |
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plane.auto_state.vtol_mode = true; |
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} |
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return true; |
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} |
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void ModeQAcro::update() |
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{ |
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// get nav_roll and nav_pitch from multicopter attitude controller |
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Vector3f att_target = plane.quadplane.attitude_control->get_att_target_euler_cd(); |
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plane.nav_pitch_cd = att_target.y; |
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plane.nav_roll_cd = att_target.x; |
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return; |
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} |
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