Line data    Source code

       1             : #include "Tracker.h"
       2             : 
       3             : /*
       4             :  * Manual control mode
       5             :  */
       6             : 
       7             : /*
       8             :  * update_manual - runs the manual controller
       9             :  *  called at 50hz while control mode is 'MANUAL'
      10             :  */
      11        1701 : void ModeManual::update()
      12             : {
      13             :     // copy yaw and pitch input to output
      14        1701 :     SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_yaw, rc().channel(CH_YAW)->get_radio_in());
      15        1701 :     SRV_Channels::constrain_pwm(SRV_Channel::k_tracker_yaw);
      16             : 
      17        1701 :     SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_pitch, rc().channel(CH_PITCH)->get_radio_in());
      18        1701 :     SRV_Channels::constrain_pwm(SRV_Channel::k_tracker_pitch);
      19        1701 : }