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AC_WPNav: add reset_I to set_loiter_target

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This commit is contained in:
Randy Mackay 2014-04-23 13:44:59 +09:00
parent ff532a06ec
commit 4d5b73b968
2 changed files with 7 additions and 4 deletions
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7
libraries/AC_WPNav/AC_WPNav.cpp
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@ -97,10 +97,13 @@ AC_WPNav::AC_WPNav(const AP_InertialNav* inav, const AP_AHRS* ahrs, AC_PosContro
///
/// set_loiter_target in cm from home
void AC_WPNav::set_loiter_target(const Vector3f& position)
void AC_WPNav::set_loiter_target(const Vector3f& position, bool reset_I)
{
// flag in case of loiter x_y I_term should not be reset => reset_I=false. default is true
_reset_I = reset_I;
// set target position
_pos_control.set_pos_target(_inav->get_position());
_pos_control.set_pos_target(position);
// initialise feed forward velocity to zero
_pos_control.set_desired_velocity(0,0);

4
libraries/AC_WPNav/AC_WPNav.h
View File

@ -53,10 +53,10 @@ public:
///
/// set_loiter_target in cm from home
void set_loiter_target(const Vector3f& position);
void set_loiter_target(const Vector3f& position, bool reset_I=true);
/// init_loiter_target - initialize's loiter position and feed-forward velocity from current pos and velocity
void init_loiter_target(bool reset_I=true);
void init_loiter_target();
/// set_loiter_velocity - allows main code to pass the maximum velocity for loiter
void set_loiter_velocity(float velocity_cms);