// auto_run - runs the appropriate auto controller
// according to the current auto_mode
// should be called at 100hz or more
void Sub::auto_run()
{
mission.update();
// call the correct auto controller
switch (auto_mode) {
case Auto_WP:
case Auto_CircleMoveToEdge:
auto_wp_run();
break;
case Auto_Circle:
auto_circle_run();
break;
case Auto_Spline:
auto_spline_run();
break;
case Auto_NavGuided:
#if NAV_GUIDED == ENABLED
auto_nav_guided_run();
#endif
break;
case Auto_Loiter:
auto_loiter_run();
break;
case Auto_TerrainRecover:
auto_terrain_recover_run();
break;
}
}
// auto_run - runs the auto controller
// should be called at 100hz or more
// relies on run_autopilot being called at 10hz which handles decision making and non-navigation related commands
void Copter::auto_run()
{
// call the correct auto controller
switch (auto_mode) {
case Auto_TakeOff:
auto_takeoff_run();
break;
case Auto_WP:
case Auto_CircleMoveToEdge:
auto_wp_run();
break;
case Auto_Land:
auto_land_run();
break;
case Auto_RTL:
auto_rtl_run();
break;
case Auto_Circle:
auto_circle_run();
break;
case Auto_Spline:
auto_spline_run();
break;
case Auto_NavGuided:
#if NAV_GUIDED == ENABLED
auto_nav_guided_run();
#endif
break;
case Auto_Loiter:
auto_loiter_run();
break;
}
}