Line data    Source code

       1             : #include "Sub.h"
       2             : 
       3             : 
       4         107 : bool ModeManual::init(bool ignore_checks) {
       5             :     // set target altitude to zero for reporting
       6         107 :     position_control->set_pos_desired_U_cm(0);
       7             : 
       8             :     // attitude hold inputs become thrust inputs in manual mode
       9             :     // set to neutral to prevent chaotic behavior (esp. roll/pitch)
      10         107 :     sub.set_neutral_controls();
      11             : 
      12         107 :     return true;
      13             : }
      14             : 
      15             : // manual_run - runs the manual (passthrough) controller
      16             : // should be called at 100hz or more
      17     1045970 : void ModeManual::run()
      18             : {
      19             :     // if not armed set throttle to zero and exit immediately
      20     1045970 :     if (!sub.motors.armed()) {
      21      840945 :         sub.motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
      22      840945 :         attitude_control->set_throttle_out(NEUTRAL_THROTTLE,true,g.throttle_filt);
      23      840945 :         attitude_control->relax_attitude_controllers();
      24      840945 :         return;
      25             :     }
      26             : 
      27      205025 :     sub.motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
      28             : 
      29      205025 :     sub.motors.set_roll(channel_roll->norm_input());
      30      205025 :     sub.motors.set_pitch(channel_pitch->norm_input());
      31      205025 :     sub.motors.set_yaw(channel_yaw->norm_input() * g.acro_yaw_p / ACRO_YAW_P);
      32      205025 :     sub.motors.set_throttle((channel_throttle->norm_input() + 1.0f) / 2.0f);
      33      205025 :     sub.motors.set_forward(channel_forward->norm_input());
      34      205025 :     sub.motors.set_lateral(channel_lateral->norm_input());
      35             : }