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AC_WPNav: allow setting of horizontal velocity

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Also added accessor function for waypoint radius parameter
This commit is contained in:
Randy Mackay 2013-04-14 13:24:14 +09:00
parent b58c26bcd5
commit 0351c2ae33
2 changed files with 13 additions and 7 deletions
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12
libraries/AC_WPNav/AC_WPNav.cpp
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@ -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
};

8
libraries/AC_WPNav/AC_WPNav.h
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@ -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: