Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: Guided and Loiter mode returns Crosstrack error

Browse Source
This commit is contained in:
Leonard Hall 2021-07-21 10:08:05 +09:30 committed by Randy Mackay
parent ce254153c1
commit 6d6ab89a72
2 changed files with 2 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ArduCopter/mode.h
View File

@ -1028,6 +1028,7 @@ protected:
uint32_t wp_distance() const override;
int32_t wp_bearing() const override;
float crosstrack_error() const override { return pos_control->crosstrack_error();}
#if PRECISION_LANDING == ENABLED
bool do_precision_loiter();

1
ArduCopter/mode_guided.cpp
View File

@ -1024,6 +1024,7 @@ float ModeGuided::crosstrack_error() const
case SubMode::Accel:
case SubMode::VelAccel:
case SubMode::PosVelAccel:
return pos_control->crosstrack_error();
case SubMode::Angle:
// no track to have a crosstrack to
return 0;