From 0351c2ae330b3f3b194672e9adcda192a249075b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sun, 14 Apr 2013 13:24:14 +0900
Subject: [PATCH] AC_WPNav: allow setting of horizontal velocity

Also added accessor function for waypoint radius parameter
---
 libraries/AC_WPNav/AC_WPNav.cpp | 12 +++++++-----
 libraries/AC_WPNav/AC_WPNav.h   |  8 ++++++--
 2 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index 9f715bd260..7ca9da3d59 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -8,11 +8,13 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] PROGMEM = {
     // index 0 was used for the old orientation matrix
 
     // @Param: SPEED
-    // @DisplayName: Speed in cm/s to travel between waypoints
-    // @Description: The desired horizontal speed in cm/s while travelling between waypoints
+    // @DisplayName: Waypoint Speed Target
+    // @Description: Defines the speed in cm/s which the aircraft will attempt to maintain during a WP mission
+    // @Units: Centimeters/Second
     // @Range: 0 1000
-    // @Increment: 50
-    AP_GROUPINFO("SPEED",    0, AC_WPNav, _speed_cms, WPNAV_WP_SPEED),
+    // @Increment: 100
+    // @User: Standard
+    AP_GROUPINFO("SPEED",   0, AC_WPNav, _speed_cms, WPNAV_WP_SPEED),
 
     // @Param: RADIUS
     // @DisplayName: Waypoint Radius
@@ -21,7 +23,7 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] PROGMEM = {
     // @Range: 100 1000
     // @Increment: 1
     // @User: Standard
-    AP_GROUPINFO("RADIUS",    1, AC_WPNav, _wp_radius_cm, WPNAV_WP_RADIUS),
+    AP_GROUPINFO("RADIUS",      1, AC_WPNav, _wp_radius_cm, WPNAV_WP_RADIUS),
 
     AP_GROUPEND
 };
diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
index 8953ed9216..4dded86aaf 100644
--- a/libraries/AC_WPNav/AC_WPNav.h
+++ b/libraries/AC_WPNav/AC_WPNav.h
@@ -6,8 +6,6 @@
 #include <AP_Common.h>
 #include <AP_Param.h>
 #include <AP_Math.h>
-#include <AP_GPS.h>             // ArduPilot GPS library
-#include <AP_Baro.h>            // ArduPilot Mega Barometer Library
 #include <AC_PID.h>             // PID library
 #include <APM_PI.h>             // PID library
 #include <AP_InertialNav.h>     // Inertial Navigation library
@@ -138,9 +136,15 @@ public:
         _cos_roll = cos_roll;
     }
 
+    /// set_horizontal_velocity - allows main code to pass target horizontal velocity for wp navigation
+    void set_horizontal_velocity(float velocity_cms) { _speed_cms = velocity_cms; };
+
     /// set_climb_velocity - allows main code to pass max climb velocity to wp navigation
     void set_climb_velocity(float velocity_cms) { _speedz_cms = velocity_cms; };
 
+    /// get_waypoint_radius - access for waypoint radius in cm
+    float get_waypoint_radius() { return _wp_radius_cm; }
+
     static const struct AP_Param::GroupInfo var_info[];
 
 protected: