Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: follow return wp_distance and wp_bearing

This commit is contained in:
Randy Mackay 2018-12-11 18:37:30 +09:00
parent 4b6db7c0dd
commit 7a6e212da9
2 changed files with 12 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/mode.h
View File

@ -1252,6 +1252,8 @@ protected:
const char *name() const override { return "FOLLOW"; }
const char *name4() const override { return "FOLL"; }
uint32_t wp_distance() const override;
int32_t wp_bearing() const override;
uint32_t last_log_ms; // system time of last time desired velocity was logging
};

10
ArduCopter/mode_follow.cpp
View File

@ -150,4 +150,14 @@ void Copter::ModeFollow::run()
Copter::ModeGuided::run();
}
uint32_t Copter::ModeFollow::wp_distance() const
{
return g2.follow.get_distance_to_target() * 100;
}
int32_t Copter::ModeFollow::wp_bearing() const
{
return g2.follow.get_bearing_to_target() * 100;
}
#endif // MODE_FOLLOW_ENABLED == ENABLED