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26 lines
703 B
26 lines
703 B
#include "mode.h" |
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#include "Plane.h" |
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bool ModeCircle::_enter() |
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{ |
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// the altitude to circle at is taken from the current altitude |
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plane.throttle_allows_nudging = false; |
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plane.auto_throttle_mode = true; |
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plane.auto_navigation_mode = true; |
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plane.next_WP_loc.alt = plane.current_loc.alt; |
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return true; |
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} |
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void ModeCircle::update() |
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{ |
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// we have no GPS installed and have lost radio contact |
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// or we just want to fly around in a gentle circle w/o GPS, |
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// holding altitude at the altitude we set when we |
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// switched into the mode |
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plane.nav_roll_cd = plane.roll_limit_cd / 3; |
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plane.update_load_factor(); |
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plane.calc_nav_pitch(); |
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plane.calc_throttle(); |
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} |
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