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Copter: Also report distance and bearing to target in Guided_PosVel mode

This commit is contained in:
Dr.-Ing. Amilcar Do Carmo Lucas 2017-12-03 18:58:28 +01:00 committed by Randy Mackay
parent fa4427fbce
commit 2235b22510
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/navigation.cpp
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@ -41,6 +41,10 @@ void Copter::calc_wp_distance()
wp_distance = wp_nav->get_wp_distance_to_destination(); wp_distance = wp_nav->get_wp_distance_to_destination();
break; break;
} }
if (guided_mode == Guided_PosVel) {
wp_distance = pos_control->get_distance_to_target();
break;
}
FALLTHROUGH; FALLTHROUGH;
default: default:
wp_distance = 0; wp_distance = 0;
@ -69,6 +73,10 @@ void Copter::calc_wp_bearing()
wp_bearing = wp_nav->get_wp_bearing_to_destination(); wp_bearing = wp_nav->get_wp_bearing_to_destination();
break; break;
} }
if (guided_mode == Guided_PosVel) {
wp_bearing = pos_control->get_bearing_to_target();
break;
}
FALLTHROUGH; FALLTHROUGH;
default: default:
wp_bearing = 0; wp_bearing = 0;