Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-23 00:04:02 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_GPS: added velocity_vector() method

Browse Source
This commit is contained in:
Andrew Tridgell 2013-07-20 08:13:50 +10:00
parent 468e55d425
commit 01c124d5f5
1 changed files with 9 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/AP_GPS/GPS.h
View File

@ -10,6 +10,7 @@
#include <inttypes.h> #include <inttypes.h>
#include <AP_Progmem.h> #include <AP_Progmem.h>
#include <AP_Math.h>
/// @class GPS /// @class GPS
/// @brief Abstract base class for GPS receiver drivers. /// @brief Abstract base class for GPS receiver drivers.
@ -126,16 +127,21 @@ public:
float ground_speed, float ground_course, float speed_3d, uint8_t num_sats); float ground_speed, float ground_course, float speed_3d, uint8_t num_sats);
// components of velocity in 2D, in m/s // components of velocity in 2D, in m/s
float velocity_north(void) { float velocity_north(void) const {
return _status >= GPS_OK_FIX_2D ? _velocity_north : 0; return _status >= GPS_OK_FIX_2D ? _velocity_north : 0;
} }
float velocity_east(void) { float velocity_east(void) const {
return _status >= GPS_OK_FIX_2D ? _velocity_east : 0; return _status >= GPS_OK_FIX_2D ? _velocity_east : 0;
} }
float velocity_down(void) { float velocity_down(void) const {
return _status >= GPS_OK_FIX_3D ? _velocity_down : 0; return _status >= GPS_OK_FIX_3D ? _velocity_down : 0;
} }
// GPS velocity vector as NED in m/s
Vector3f velocity_vector(void) const {
return Vector3f(_velocity_north, _velocity_east, _velocity_down);
}
// last ground speed in m/s. This can be used when we have no GPS // last ground speed in m/s. This can be used when we have no GPS
// lock to return the last ground speed we had with lock // lock to return the last ground speed we had with lock
float last_ground_speed(void) { float last_ground_speed(void) {