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AP_Navigation: added a turn_distance() method with turn_angle

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Andrew Tridgell 2014-06-05 09:33:42 +10:00
parent a72b362c1f
commit 7a6186f7e6
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_Navigation/AP_Navigation.h
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@ -51,9 +51,14 @@ public:
// return the distance in meters at which a turn should commence // return the distance in meters at which a turn should commence
// to allow the vehicle to neatly move to the next track in the // to allow the vehicle to neatly move to the next track in the
// mission when approaching a waypoint // mission when approaching a waypoint. Assumes 90 degree turn
virtual float turn_distance(float wp_radius) const = 0; virtual float turn_distance(float wp_radius) const = 0;
// return the distance in meters at which a turn should commence
// to allow the vehicle to neatly move to the next track in the
// mission when approaching a waypoint
virtual float turn_distance(float wp_radius, float turn_angle) const = 0;
// update the internal state of the navigation controller, given // update the internal state of the navigation controller, given
// the previous and next waypoints. This is the step function for // the previous and next waypoints. This is the step function for
// navigation control for path following between two points. This // navigation control for path following between two points. This