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AP_Navigation: Add a loiter radius interface

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Michael du Breuil 2017-03-17 19:48:18 -07:00 committed by Andrew Tridgell
parent 336b4a64d7
commit 2ac32ad204
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_Navigation/AP_Navigation.h
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@ -56,6 +56,10 @@ public:
// mission when approaching a waypoint // mission when approaching a waypoint
virtual float turn_distance(float wp_radius, float turn_angle) const = 0; virtual float turn_distance(float wp_radius, float turn_angle) const = 0;
// return the target loiter radius for the current location that
// will not cause excessive airframe loading
virtual float loiter_radius(const float radius) const = 0;
// update the internal state of the navigation controller, given // update the internal state of the navigation controller, given
// the previous and next waypoints. This is the step function for // the previous and next waypoints. This is the step function for
// navigation control for path following between two points. This // navigation control for path following between two points. This