30 lines
718 B
30 lines
718 B
#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.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.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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