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AC_WPNav: get_terrain_offset and get_vector_NEU made public

This commit is contained in:
Randy Mackay 2021-06-26 10:08:49 +09:00
parent 620d066a2e
commit 430492469b
1 changed files with 7 additions and 7 deletions
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14
libraries/AC_WPNav/AC_WPNav.h
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@ -49,6 +49,13 @@ public:
};
AC_WPNav::TerrainSource get_terrain_source() const;
// get terrain's altitude (in cm above the ekf origin) at the current position (+ve means terrain below vehicle is above ekf origin's altitude)
bool get_terrain_offset(float& offset_cm);
// convert location to vector from ekf origin. terrain_alt is set to true if resulting vector's z-axis should be treated as alt-above-terrain
// returns false if conversion failed (likely because terrain data was not available)
bool get_vector_NEU(const Location &loc, Vector3f &vec, bool &terrain_alt);
///
/// waypoint controller
///
@ -216,13 +223,6 @@ protected:
uint8_t wp_yaw_set : 1; // true if yaw target has been set
} _flags;
// get terrain's altitude (in cm above the ekf origin) at the current position (+ve means terrain below vehicle is above ekf origin's altitude)
bool get_terrain_offset(float& offset_cm);
// convert location to vector from ekf origin. terrain_alt is set to true if resulting vector's z-axis should be treated as alt-above-terrain
// returns false if conversion failed (likely because terrain data was not available)
bool get_vector_NEU(const Location &loc, Vector3f &vec, bool &terrain_alt);
// helper function to calculate scurve jerk and jerk_time values
// updates _scurve_jerk and _scurve_jerk_time
void calc_scurve_jerk_and_jerk_time();