void Rover::update_navigation()
{
switch (control_mode) {
case MANUAL:
case HOLD:
case LEARNING:
case STEERING:
case INITIALISING:
break;
case AUTO:
mission.update();
if (do_auto_rotation) {
do_yaw_rotation();
}
break;
case RTL:
// no loitering around the wp with the rover, goes direct to the wp position
calc_lateral_acceleration();
calc_nav_steer();
if (verify_RTL()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
set_mode(HOLD);
}
break;
case GUIDED:
switch (guided_mode) {
case Guided_Angle:
nav_set_yaw_speed();
break;
case Guided_WP:
// no loitering around the wp with the rover, goes direct to the wp position
calc_lateral_acceleration();
calc_nav_steer();
if (rtl_complete || verify_RTL()) {
// we have reached destination so stop where we are
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
lateral_acceleration = 0;
}
break;
default:
gcs_send_text(MAV_SEVERITY_WARNING, "Unknown GUIDED mode");
break;
}
break;
}
}
// verify_command - this will be called repeatedly by ap_mission lib to ensure the active commands are progressing
// should return true once the active navigation command completes successfully
// called at 10hz or higher
bool Copter::verify_command(const AP_Mission::Mission_Command& cmd)
{
switch(cmd.id) {
//
// navigation commands
//
case MAV_CMD_NAV_TAKEOFF:
return verify_takeoff();
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_LAND:
return verify_land();
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlimited();
case MAV_CMD_NAV_LOITER_TURNS:
return verify_circle(cmd);
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time();
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_NAV_SPLINE_WAYPOINT:
return verify_spline_wp(cmd);
#if NAV_GUIDED == ENABLED
case MAV_CMD_NAV_GUIDED_ENABLE:
return verify_nav_guided_enable(cmd);
#endif
///
/// conditional commands
///
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
case MAV_CMD_CONDITION_CHANGE_ALT:
return verify_change_alt();
case MAV_CMD_CONDITION_YAW:
return verify_yaw();
case MAV_CMD_DO_PARACHUTE:
// assume parachute was released successfully
return true;
default:
// return true if we do not recognize the command so that we move on to the next command
return true;
}
}
bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
{
// exit immediately if not in AUTO mode
// we return true or we will continue to be called by ap-mission
if (control_mode != AUTO) {
return true;
}
switch(cmd.id) {
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
break;
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
break;
default:
if (cmd.id > MAV_CMD_CONDITION_LAST) {
// this is a command that doesn't require verify
return true;
}
gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Unsupported command"));
return true;
break;
}
return false;
}
void Rover::update_navigation()
{
switch (control_mode) {
case MANUAL:
case HOLD:
case LEARNING:
case STEERING:
case INITIALISING:
break;
case AUTO:
mission.update();
break;
case RTL:
// no loitering around the wp with the rover, goes direct to the wp position
calc_lateral_acceleration();
calc_nav_steer();
if (verify_RTL()) {
channel_throttle->servo_out = g.throttle_min.get();
set_mode(HOLD);
}
break;
case GUIDED:
// no loitering around the wp with the rover, goes direct to the wp position
calc_lateral_acceleration();
calc_nav_steer();
if (!rtl_complete) {
if (verify_RTL()) {
// we have reached destination so stop where we are
channel_throttle->servo_out = g.throttle_min.get();
channel_steer->servo_out = 0;
lateral_acceleration = 0;
}
}
break;
}
}
bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
{
switch (cmd.id) {
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlimited(cmd);
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time(cmd);
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
case MAV_CMD_NAV_SET_YAW_SPEED:
return verify_nav_set_yaw_speed();
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_SET_REVERSE:
case MAV_CMD_DO_FENCE_ENABLE:
return true;
default:
// error message
gcs().send_text(MAV_SEVERITY_WARNING, "Skipping invalid cmd #%i", cmd.id);
// return true if we do not recognize the command so that we move on to the next command
return true;
}
}
void Rover::update_current_mode(void)
{
switch (control_mode){
case AUTO:
case RTL:
set_reverse(false);
calc_lateral_acceleration();
calc_nav_steer();
calc_throttle(g.speed_cruise);
break;
case GUIDED:
set_reverse(false);
if (rtl_complete || verify_RTL()) {
// we have reached destination so stop where we are
if (channel_throttle->servo_out != g.throttle_min.get()) {
gcs_send_mission_item_reached_message(0);
}
channel_throttle->servo_out = g.throttle_min.get();
channel_steer->servo_out = 0;
lateral_acceleration = 0;
} else {
calc_lateral_acceleration();
calc_nav_steer();
calc_throttle(g.speed_cruise);
}
break;
case STEERING: {
/*
in steering mode we control lateral acceleration
directly. We first calculate the maximum lateral
acceleration at full steering lock for this speed. That is
V^2/R where R is the radius of turn. We get the radius of
turn from half the STEER2SRV_P.
*/
float max_g_force = ground_speed * ground_speed / steerController.get_turn_radius();
// constrain to user set TURN_MAX_G
max_g_force = constrain_float(max_g_force, 0.1f, g.turn_max_g * GRAVITY_MSS);
lateral_acceleration = max_g_force * (channel_steer->pwm_to_angle()/4500.0f);
calc_nav_steer();
// and throttle gives speed in proportion to cruise speed, up
// to 50% throttle, then uses nudging above that.
float target_speed = channel_throttle->pwm_to_angle() * 0.01f * 2 * g.speed_cruise;
set_reverse(target_speed < 0);
if (in_reverse) {
target_speed = constrain_float(target_speed, -g.speed_cruise, 0);
} else {
target_speed = constrain_float(target_speed, 0, g.speed_cruise);
}
calc_throttle(target_speed);
break;
}
case LEARNING:
case MANUAL:
/*
in both MANUAL and LEARNING we pass through the
controls. Setting servo_out here actually doesn't matter, as
we set the exact value in set_servos(), but it helps for
logging
*/
channel_throttle->servo_out = channel_throttle->control_in;
channel_steer->servo_out = channel_steer->pwm_to_angle();
// mark us as in_reverse when using a negative throttle to
// stop AHRS getting off
set_reverse(channel_throttle->servo_out < 0);
break;
case HOLD:
// hold position - stop motors and center steering
channel_throttle->servo_out = 0;
channel_steer->servo_out = 0;
set_reverse(false);
break;
case INITIALISING:
break;
}
}
bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Returns true if command complete
{
switch(cmd.id) {
case MAV_CMD_NAV_TAKEOFF:
return verify_takeoff();
case MAV_CMD_NAV_LAND:
return verify_land();
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlim();
case MAV_CMD_NAV_LOITER_TURNS:
return verify_loiter_turns();
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time();
case MAV_CMD_NAV_LOITER_TO_ALT:
return verify_loiter_to_alt();
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT:
return verify_continue_and_change_alt();
// Conditional commands
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
break;
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
break;
case MAV_CMD_CONDITION_CHANGE_ALT:
return verify_change_alt();
break;
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_NAV_ROI:
case MAV_CMD_DO_MOUNT_CONFIGURE:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_INVERTED_FLIGHT:
case MAV_CMD_DO_LAND_START:
case MAV_CMD_DO_FENCE_ENABLE:
return true;
default:
// error message
if (AP_Mission::is_nav_cmd(cmd)) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_nav: Invalid or no current Nav cmd"));
}else{
gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Invalid or no current Condition cmd"));
}
// return true so that we do not get stuck at this command
return true;
}
}
bool Copter::verify_command(const AP_Mission::Mission_Command& cmd)
{
switch(cmd.id) {
//
// navigation commands
//
case MAV_CMD_NAV_TAKEOFF:
return verify_takeoff();
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_LAND:
return verify_land();
case MAV_CMD_NAV_PAYLOAD_PLACE:
return verify_payload_place();
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlimited();
case MAV_CMD_NAV_LOITER_TURNS:
return verify_circle(cmd);
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time();
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_NAV_SPLINE_WAYPOINT:
return verify_spline_wp(cmd);
#if NAV_GUIDED == ENABLED
case MAV_CMD_NAV_GUIDED_ENABLE:
return verify_nav_guided_enable(cmd);
#endif
case MAV_CMD_NAV_DELAY:
return verify_nav_delay(cmd);
///
/// conditional commands
///
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
case MAV_CMD_CONDITION_YAW:
return verify_yaw();
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_PARACHUTE: // assume parachute was released successfully
case MAV_CMD_DO_GRIPPER:
case MAV_CMD_DO_GUIDED_LIMITS:
return true;
default:
// error message
gcs_send_text_fmt(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
// return true if we do not recognize the command so that we move on to the next command
return true;
}
}
bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Returns true if command complete
{
switch(cmd.id) {
case MAV_CMD_NAV_TAKEOFF:
return verify_takeoff();
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_LAND:
if (flight_stage == AP_Vehicle::FixedWing::FlightStage::FLIGHT_ABORT_LAND) {
return landing.verify_abort_landing(prev_WP_loc, next_WP_loc, current_loc, auto_state.takeoff_altitude_rel_cm, throttle_suppressed);
} else {
// use rangefinder to correct if possible
const float height = height_above_target() - rangefinder_correction();
return landing.verify_land(prev_WP_loc, next_WP_loc, current_loc,
height, auto_state.sink_rate, auto_state.wp_proportion, auto_state.last_flying_ms, arming.is_armed(), is_flying(), rangefinder_state.in_range);
}
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlim();
case MAV_CMD_NAV_LOITER_TURNS:
return verify_loiter_turns();
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time();
case MAV_CMD_NAV_LOITER_TO_ALT:
return verify_loiter_to_alt();
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT:
return verify_continue_and_change_alt();
case MAV_CMD_NAV_ALTITUDE_WAIT:
return verify_altitude_wait(cmd);
case MAV_CMD_NAV_VTOL_TAKEOFF:
return quadplane.verify_vtol_takeoff(cmd);
case MAV_CMD_NAV_VTOL_LAND:
return quadplane.verify_vtol_land();
// Conditional commands
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
// assume parachute was released successfully
return true;
#endif
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_INVERTED_FLIGHT:
case MAV_CMD_DO_LAND_START:
case MAV_CMD_DO_FENCE_ENABLE:
case MAV_CMD_DO_AUTOTUNE_ENABLE:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_VTOL_TRANSITION:
case MAV_CMD_DO_ENGINE_CONTROL:
return true;
default:
// error message
gcs_send_text_fmt(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
// return true if we do not recognize the command so that we move on to the next command
return true;
}
}
bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Returns true if command complete
{
switch(cmd.id) {
case MAV_CMD_NAV_TAKEOFF:
return verify_takeoff();
case MAV_CMD_NAV_LAND:
return verify_land();
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlim();
case MAV_CMD_NAV_LOITER_TURNS:
return verify_loiter_turns();
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time();
case MAV_CMD_NAV_LOITER_TO_ALT:
return verify_loiter_to_alt();
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT:
return verify_continue_and_change_alt();
case MAV_CMD_NAV_ALTITUDE_WAIT:
return verify_altitude_wait(cmd);
// Conditional commands
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
case MAV_CMD_CONDITION_CHANGE_ALT:
return verify_change_alt();
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
// assume parachute was released successfully
return true;
break;
#endif
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_NAV_ROI:
case MAV_CMD_DO_MOUNT_CONFIGURE:
case MAV_CMD_DO_INVERTED_FLIGHT:
case MAV_CMD_DO_LAND_START:
case MAV_CMD_DO_FENCE_ENABLE:
case MAV_CMD_DO_AUTOTUNE_ENABLE:
return true;
default:
// error message
if (AP_Mission::is_nav_cmd(cmd)) {
gcs_send_text(MAV_SEVERITY_WARNING,"Verify nav. Invalid or no current nav cmd");
}else{
gcs_send_text(MAV_SEVERITY_WARNING,"Verify conditon. Invalid or no current condition cmd");
}
// return true so that we do not get stuck at this command
return true;
}
}
// check if current mission command has completed
bool Sub::verify_command(const AP_Mission::Mission_Command& cmd)
{
switch (cmd.id) {
//
// navigation commands
//
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_LAND:
return verify_surface(cmd);
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlimited();
case MAV_CMD_NAV_LOITER_TURNS:
return verify_circle(cmd);
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time();
case MAV_CMD_NAV_SPLINE_WAYPOINT:
return verify_spline_wp(cmd);
#if NAV_GUIDED == ENABLED
case MAV_CMD_NAV_GUIDED_ENABLE:
return verify_nav_guided_enable(cmd);
#endif
case MAV_CMD_NAV_DELAY:
return verify_nav_delay(cmd);
///
/// conditional commands
///
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
case MAV_CMD_CONDITION_YAW:
return verify_yaw();
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_GUIDED_LIMITS:
return true;
default:
// error message
gcs().send_text(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
// return true if we do not recognize the command so that we move on to the next command
return true;
}
}
void Rover::update_current_mode(void)
{
switch (control_mode) {
case AUTO:
case RTL:
if (!in_auto_reverse) {
set_reverse(false);
}
if (!do_auto_rotation) {
calc_lateral_acceleration();
calc_nav_steer();
calc_throttle(g.speed_cruise);
} else {
do_yaw_rotation();
}
break;
case GUIDED: {
if (!in_auto_reverse) {
set_reverse(false);
}
switch (guided_mode) {
case Guided_Angle:
nav_set_yaw_speed();
break;
case Guided_WP:
if (rtl_complete || verify_RTL()) {
// we have reached destination so stop where we are
if (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) != g.throttle_min.get()) {
gcs_send_mission_item_reached_message(0);
}
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
lateral_acceleration = 0;
} else {
calc_lateral_acceleration();
calc_nav_steer();
calc_throttle(g.speed_cruise);
Log_Write_GuidedTarget(guided_mode, Vector3f(guided_WP.lat, guided_WP.lng, guided_WP.alt),
Vector3f(g.speed_cruise, SRV_Channels::get_output_scaled(SRV_Channel::k_throttle), 0));
}
break;
default:
gcs_send_text(MAV_SEVERITY_WARNING, "Unknown GUIDED mode");
break;
}
break;
}
case STEERING: {
/*
in steering mode we control lateral acceleration
directly. We first calculate the maximum lateral
acceleration at full steering lock for this speed. That is
V^2/R where R is the radius of turn. We get the radius of
turn from half the STEER2SRV_P.
*/
float max_g_force = ground_speed * ground_speed / steerController.get_turn_radius();
// constrain to user set TURN_MAX_G
max_g_force = constrain_float(max_g_force, 0.1f, g.turn_max_g * GRAVITY_MSS);
lateral_acceleration = max_g_force * (channel_steer->get_control_in()/4500.0f);
calc_nav_steer();
// and throttle gives speed in proportion to cruise speed, up
// to 50% throttle, then uses nudging above that.
float target_speed = channel_throttle->get_control_in() * 0.01f * 2 * g.speed_cruise;
set_reverse(target_speed < 0);
if (in_reverse) {
target_speed = constrain_float(target_speed, -g.speed_cruise, 0);
} else {
target_speed = constrain_float(target_speed, 0, g.speed_cruise);
}
calc_throttle(target_speed);
break;
}
case LEARNING:
case MANUAL:
/*
in both MANUAL and LEARNING we pass through the
controls. Setting servo_out here actually doesn't matter, as
we set the exact value in set_servos(), but it helps for
logging
*/
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in());
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, channel_steer->get_control_in());
// mark us as in_reverse when using a negative throttle to
// stop AHRS getting off
set_reverse(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) < 0);
break;
case HOLD:
// hold position - stop motors and center steering
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
if (!in_auto_reverse) {
set_reverse(false);
}
break;
case INITIALISING:
break;
}
}