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22 lines
460 B
C++
22 lines
460 B
C++
#include "Blimp.h"
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/*
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* Init and run calls for rtl flight mode
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*/
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bool ModeRTL::init(bool ignore_checks)
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{
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Vector3f home_ned;
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IGNORE_RETURN(ahrs.get_relative_position_NED_home(home_ned));
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target_pos = blimp.pos_ned-home_ned;
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target_yaw = blimp.ahrs.get_yaw_rad();
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return true;
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}
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//Runs the main rtl controller
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void ModeRTL::run()
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{
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yaw_forward();
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blimp.loiter->run(target_pos, target_yaw, Vector4b{false,false,false,false});
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}
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