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Rover: Allow lua script access to turn rate guided command

This commit is contained in:
Rishabh 2022-01-16 15:38:34 +05:30 committed by Randy Mackay
parent 48124c1c4b
commit 7265e11b53
2 changed files with 15 additions and 0 deletions
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13
Rover/Rover.cpp
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@ -204,6 +204,19 @@ bool Rover::set_steering_and_throttle(float steering, float throttle)
return true;
}
// set desired turn rate (degrees/sec) and speed (m/s). Used for scripting
bool Rover::set_desired_turn_rate_and_speed(float turn_rate, float speed)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!control_mode->in_guided_mode()) {
return false;
}
// set turn rate and speed. Turn rate is expected in centidegrees/s and speed in meters/s
mode_guided.set_desired_turn_rate_and_speed(turn_rate * 100.0f, speed);
return true;
}
// get control output (for use in scripting)
// returns true on success and control_value is set to a value in the range -1 to +1
bool Rover::get_control_output(AP_Vehicle::ControlOutput control_output, float &control_value)

2
Rover/Rover.h
View File

@ -271,6 +271,8 @@ private:
bool set_target_location(const Location& target_loc) override;
bool set_target_velocity_NED(const Vector3f& vel_ned) override;
bool set_steering_and_throttle(float steering, float throttle) override;
// set desired turn rate (degrees/sec) and speed (m/s). Used for scripting
bool set_desired_turn_rate_and_speed(float turn_rate, float speed) override;
bool get_control_output(AP_Vehicle::ControlOutput control_output, float &control_value) override;
#endif // AP_SCRIPTING_ENABLED
void stats_update();