C++ (Cpp) rtl_runの例

コード例 #1

ファイル: flight_mode.cpp プロジェクト: senosahisnu/ardupilot

// update_flight_mode - calls the appropriate attitude controllers based on flight mode
// called at 100hz or more
void Copter::update_flight_mode()
{
    // Update EKF speed limit - used to limit speed when we are using optical flow
    ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);

    switch (control_mode) {
        case ACRO:
            #if FRAME_CONFIG == HELI_FRAME
                heli_acro_run();
            #else
                acro_run();
            #endif
            break;

        case STABILIZE:
            #if FRAME_CONFIG == HELI_FRAME
                heli_stabilize_run();
            #else
                stabilize_run();
            #endif
            break;

        case ALT_HOLD:
            althold_run();
            break;

        case AUTO:
            auto_run();
            break;

        case CIRCLE:
            circle_run();
            break;

        case LOITER:
            loiter_run();
            break;

        case GUIDED:
            guided_run();
            break;

        case LAND:
            land_run();
            break;

        case RTL:
            rtl_run();
            break;

        case DRIFT:
            drift_run();
            break;

        case SPORT:
            sport_run();
            break;

        case ALT_POS:
        	altpos_run();
        	break;

        case FLIP:
            flip_run();
            break;

#if AUTOTUNE_ENABLED == ENABLED
        case AUTOTUNE:
            autotune_run();
            break;
#endif

#if POSHOLD_ENABLED == ENABLED
        case POSHOLD:
            poshold_run();
            break;
#endif

        case BRAKE:
            brake_run();
            break;

        case THROW:
            throw_run();
            break;

        case AVOID_ADSB:
            avoid_adsb_run();
            break;

        case GUIDED_NOGPS:
            guided_nogps_run();
            break;

        default:
            break;
    }
}

コード例 #2

ファイル: control_auto.cpp プロジェクト: 2013-8-15/ardupilot

// auto_rtl_run - rtl in AUTO flight mode
//      called by auto_run at 100hz or more
void Copter::auto_rtl_run()
{
    // call regular rtl flight mode run function
    rtl_run();
}

コード例 #3

ファイル: flight_mode.cpp プロジェクト: CreedyNZ/ardusub

// update_flight_mode - calls the appropriate attitude controllers based on flight mode
// called at 100hz or more
void Sub::update_flight_mode()
{
    // Update EKF speed limit - used to limit speed when we are using optical flow
    ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);

    switch (control_mode) {
        case ACRO:
            acro_run();
            break;

        case STABILIZE:
            stabilize_run();
            break;

        case ALT_HOLD:
            althold_run();
            break;

        case AUTO:
            auto_run();
            break;

        case CIRCLE:
            circle_run();
            break;

        case LOITER:
            loiter_run();
            break;

        case GUIDED:
            guided_run();
            break;

        case LAND:
            land_run();
            break;

        case RTL:
            rtl_run();
            break;

        case DRIFT:
            drift_run();
            break;

        case SPORT:
            sport_run();
            break;

        case FLIP:
            flip_run();
            break;

#if AUTOTUNE_ENABLED == ENABLED
        case AUTOTUNE:
            autotune_run();
            break;
#endif

#if POSHOLD_ENABLED == ENABLED
        case POSHOLD:
            poshold_run();
            break;
#endif

        case BRAKE:
            brake_run();
            break;

        case THROW:
        	throw_run();
        	break;
    }
}