// guided_takeoff_run - takeoff in guided mode
// called by guided_run at 100hz or more
void Copter::ModeGuided::takeoff_run()
{
auto_takeoff_run();
if (wp_nav->reached_wp_destination()) {
const Vector3f target = wp_nav->get_wp_destination();
set_destination(target);
}
}
// 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;
}
}
// guided_takeoff_run - takeoff in guided mode
// called by guided_run at 100hz or more
void Copter::ModeGuided::takeoff_run()
{
auto_takeoff_run();
}
