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Peter BarkerandClaude Haiku 4.5
6ea8cfcef8
going via the static methods threw away the const-correctness so we need a bunch of non-const equivalents of several const methods Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
20 lines
557 B
C++
20 lines
557 B
C++
#include "Tracker.h"
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/*
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* Manual control mode
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*/
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/*
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* update_manual - runs the manual controller
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* called at 50hz while control mode is 'MANUAL'
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*/
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void ModeManual::update()
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{
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// copy yaw and pitch input to output
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SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_yaw, rc().channel(CH_YAW)->get_radio_in());
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SRV_Channels::constrain_pwm(SRV_Channel::k_tracker_yaw);
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SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_pitch, rc().channel(CH_PITCH)->get_radio_in());
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SRV_Channels::constrain_pwm(SRV_Channel::k_tracker_pitch);
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}
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