mirror of https://github.com/ArduPilot/ardupilot
Rover: loiter provides bearing to target
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@ -363,6 +363,14 @@ public:
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// methods that affect movement of the vehicle in this mode
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// methods that affect movement of the vehicle in this mode
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void update() override;
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void update() override;
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// attributes of the mode
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bool is_autopilot_mode() const override { return true; }
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// return desired heading (in degrees) and cross track error (in meters) for reporting to ground station (NAV_CONTROLLER_OUTPUT message)
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float wp_bearing() const override { return _desired_yaw_cd; }
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float nav_bearing() const override { return _desired_yaw_cd; }
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float crosstrack_error() const override { return 0.0f; }
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// return distance (in meters) to destination
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// return distance (in meters) to destination
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float get_distance_to_destination() const override { return _distance_to_destination; }
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float get_distance_to_destination() const override { return _distance_to_destination; }
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