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Rover: fix auto mode distance_to_destination

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This commit is contained in:
Randy Mackay 2017-12-09 12:32:53 +09:00
parent 9b81c133f6
commit 4958298a75
2 changed files with 10 additions and 1 deletions
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2
APMrover2/mode.h
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@ -194,7 +194,7 @@ public:
bool is_autopilot_mode() const override { return true; } bool is_autopilot_mode() const override { return true; }
// return distance (in meters) to destination // return distance (in meters) to destination
float get_distance_to_destination() const override { return _distance_to_destination; } float get_distance_to_destination() const override;
// set desired location, heading and speed // set desired location, heading and speed
void set_desired_location(const struct Location& destination, float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN); void set_desired_location(const struct Location& destination, float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN);

9
APMrover2/mode_auto.cpp
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@ -87,6 +87,15 @@ void ModeAuto::update()
} }
} }
// return distance (in meters) to destination
float ModeAuto::get_distance_to_destination() const
{
if (_submode == Auto_RTL) {
return _mode_rtl.get_distance_to_destination();
}
return _distance_to_destination;
}
// set desired location to drive to // set desired location to drive to
void ModeAuto::set_desired_location(const struct Location& destination, float next_leg_bearing_cd) void ModeAuto::set_desired_location(const struct Location& destination, float next_leg_bearing_cd)
{ {