From 1eca4e128d395c00e5dad6e4ed03d5797e68792b Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 14 Nov 2016 13:47:14 +1100 Subject: [PATCH] AC_WPNav: method to retrieve current desired pilot accels --- libraries/AC_WPNav/AC_WPNav.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h index 25437b4004..c3b5998933 100644 --- a/libraries/AC_WPNav/AC_WPNav.h +++ b/libraries/AC_WPNav/AC_WPNav.h @@ -84,7 +84,9 @@ public: /// set_pilot_desired_acceleration - sets pilot desired acceleration from roll and pitch stick input void set_pilot_desired_acceleration(float control_roll, float control_pitch); - + /// get_pilot_desired_acceleration - gets pilot desired + /// acceleration, body frame, [forward,right] + Vector2f get_pilot_desired_acceleration() const { return Vector2f(_pilot_accel_fwd_cms, _pilot_accel_rgt_cms); } /// clear_pilot_desired_acceleration - clear pilot desired acceleration void clear_pilot_desired_acceleration() { _pilot_accel_fwd_cms = 0.0f; _pilot_accel_rgt_cms = 0.0f; }