/*
this gives the user control of the aircraft in stabilization modes
*/
void Plane::stabilize_stick_mixing_direct()
{
if (!stick_mixing_enabled() ||
control_mode == ACRO ||
control_mode == FLY_BY_WIRE_A ||
control_mode == AUTOTUNE ||
control_mode == FLY_BY_WIRE_B ||
control_mode == CRUISE ||
control_mode == TRAINING) {
return;
}
stick_mix_channel(channel_roll, channel_roll->servo_out);
stick_mix_channel(channel_pitch, channel_pitch->servo_out);
}
/*
this gives the user control of the aircraft in stabilization modes
*/
void Plane::stabilize_stick_mixing_direct()
{
if (!stick_mixing_enabled() ||
control_mode == ACRO ||
control_mode == FLY_BY_WIRE_A ||
control_mode == AUTOTUNE ||
control_mode == FLY_BY_WIRE_B ||
control_mode == CRUISE ||
control_mode == QSTABILIZE ||
control_mode == QHOVER ||
control_mode == QLOITER ||
control_mode == QLAND ||
control_mode == QRTL ||
control_mode == TRAINING) {
return;
}
stick_mix_channel(channel_roll);
stick_mix_channel(channel_pitch);
}
/*
calculate yaw control for ground steering with specific course
*/
void Plane::calc_nav_yaw_course(void)
{
// holding a specific navigation course on the ground. Used in
// auto-takeoff and landing
int32_t bearing_error_cd = nav_controller->bearing_error_cd();
steering_control.steering = steerController.get_steering_out_angle_error(bearing_error_cd);
if (stick_mixing_enabled()) {
stick_mix_channel(channel_rudder, steering_control.steering);
}
steering_control.steering = constrain_int16(steering_control.steering, -4500, 4500);
}
/*
this gives the user control of the aircraft in stabilization modes
*/
void Plane::stabilize_stick_mixing_direct()
{
if (!stick_mixing_enabled() ||
control_mode == ACRO ||
control_mode == FLY_BY_WIRE_A ||
control_mode == AUTOTUNE ||
control_mode == FLY_BY_WIRE_B ||
control_mode == CRUISE ||
control_mode == QSTABILIZE ||
control_mode == QHOVER ||
control_mode == QLOITER ||
control_mode == QLAND ||
control_mode == QRTL ||
control_mode == TRAINING) {
return;
}
int16_t aileron = SRV_Channels::get_output_scaled(SRV_Channel::k_aileron);
stick_mix_channel(channel_roll, aileron);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, aileron);
int16_t elevator = SRV_Channels::get_output_scaled(SRV_Channel::k_elevator);
stick_mix_channel(channel_pitch, elevator);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, elevator);
}
/*
One argument version for when the servo out in the rc channel
is the target
*/
void Plane::stick_mix_channel(RC_Channel * channel)
{
int16_t servo_out = channel->get_servo_out();
stick_mix_channel(channel,servo_out);
channel->set_servo_out(servo_out);
}
