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27 lines
647 B
27 lines
647 B
#include "mode.h" |
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#include "Plane.h" |
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bool ModeLoiter::_enter() |
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{ |
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plane.throttle_allows_nudging = true; |
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plane.auto_throttle_mode = true; |
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plane.auto_navigation_mode = true; |
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plane.do_loiter_at_location(); |
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#if SOARING_ENABLED == ENABLED |
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if (plane.g2.soaring_controller.is_active() && plane.g2.soaring_controller.suppress_throttle()) { |
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plane.g2.soaring_controller.init_thermalling(); |
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plane.g2.soaring_controller.get_target(plane.next_WP_loc); // ahead on flight path |
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} |
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#endif |
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return true; |
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} |
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void ModeLoiter::update() |
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{ |
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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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