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AC_WPNav: use trig values from ahrs

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Randy Mackay 2014-02-09 12:34:39 +09:00 committed by Andrew Tridgell
parent aa4c3eaffe
commit 64cfcb2308
1 changed files with 0 additions and 2 deletions
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libraries/AC_WPNav/AC_WPNav.h
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@ -139,7 +139,6 @@ public:
/// set_desired_alt - set desired altitude (in cm above home) /// set_desired_alt - set desired altitude (in cm above home)
void set_desired_alt(float desired_alt) { _pos_control.set_alt_target(desired_alt); } void set_desired_alt(float desired_alt) { _pos_control.set_alt_target(desired_alt); }
/// advance_wp_target_along_track - move target location along track from origin to destination /// advance_wp_target_along_track - move target location along track from origin to destination
void advance_wp_target_along_track(float dt); void advance_wp_target_along_track(float dt);
@ -175,7 +174,6 @@ protected:
AP_Float _wp_radius_cm; // distance from a waypoint in cm that, when crossed, indicates the wp has been reached AP_Float _wp_radius_cm; // distance from a waypoint in cm that, when crossed, indicates the wp has been reached
AP_Float _wp_accel_cms; // acceleration in cm/s/s during missions AP_Float _wp_accel_cms; // acceleration in cm/s/s during missions
// loiter controller internal variables // loiter controller internal variables
uint32_t _loiter_last_update; // time of last update_loiter call uint32_t _loiter_last_update; // time of last update_loiter call
uint8_t _loiter_step; // used to decide which portion of loiter controller to run during this iteration uint8_t _loiter_step; // used to decide which portion of loiter controller to run during this iteration