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AC_WPNav: add rangefinder_used accessor

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used by zigzag mode to determine if terrain altitudes can be used
This commit is contained in:
Randy Mackay 2019-04-11 13:27:41 +09:00
parent 89eb876faf
commit 5ebaeaf5d2
1 changed files with 3 additions and 0 deletions
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3
libraries/AC_WPNav/AC_WPNav.h
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@ -57,6 +57,9 @@ public:
/// provide rangefinder altitude
void set_rangefinder_alt(bool use, bool healthy, float alt_cm) { _rangefinder_available = use; _rangefinder_healthy = healthy; _rangefinder_alt_cm = alt_cm; }
// return true if range finder may be used for terrain following
bool rangefinder_used() const { return _rangefinder_use && _rangefinder_healthy; }
///
/// brake controller
///