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35 lines
1.1 KiB
35 lines
1.1 KiB
#include "Sub.h" |
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// manual_init - initialise manual controller |
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bool Sub::manual_init() |
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{ |
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// set target altitude to zero for reporting |
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pos_control.set_alt_target(0); |
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// attitude hold inputs become thrust inputs in manual mode |
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// set to neutral to prevent chaotic behavior (esp. roll/pitch) |
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set_neutral_controls(); |
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return true; |
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} |
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// manual_run - runs the manual (passthrough) controller |
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// should be called at 100hz or more |
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void Sub::manual_run() |
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{ |
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// if not armed set throttle to zero and exit immediately |
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if (!motors.armed()) { |
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motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE); |
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); |
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return; |
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} |
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); |
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motors.set_roll(channel_roll->norm_input()); |
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motors.set_pitch(channel_pitch->norm_input()); |
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motors.set_yaw(channel_yaw->norm_input() * g.acro_yaw_p / ACRO_YAW_P); |
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motors.set_throttle(channel_throttle->norm_input()); |
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motors.set_forward(channel_forward->norm_input()); |
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motors.set_lateral(channel_lateral->norm_input()); |
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}
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