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Rover: loiter provides bearing to target

This commit is contained in:
Randy Mackay 2018-12-12 10:24:02 +09:00
parent 6b5ff939f2
commit 452382ff76
1 changed files with 8 additions and 0 deletions
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8
APMrover2/mode.h
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@ -363,6 +363,14 @@ public:
// methods that affect movement of the vehicle in this mode
void update() override;
// attributes of the mode
bool is_autopilot_mode() const override { return true; }
// return desired heading (in degrees) and cross track error (in meters) for reporting to ground station (NAV_CONTROLLER_OUTPUT message)
float wp_bearing() const override { return _desired_yaw_cd; }
float nav_bearing() const override { return _desired_yaw_cd; }
float crosstrack_error() const override { return 0.0f; }
// return distance (in meters) to destination
float get_distance_to_destination() const override { return _distance_to_destination; }