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

Copter: implement get_rate_bf_targets method

This commit is contained in:
Randy Mackay 2022-06-10 13:06:02 +09:00
parent cd1a62b7bc
commit 7d13582913
2 changed files with 8 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduCopter/Copter.cpp
View File

@ -725,6 +725,13 @@ bool Copter::get_wp_crosstrack_error_m(float &xtrack_error) const
return true;
}
// get the target body-frame angular velocities in rad/s (Z-axis component used by some gimbals)
bool Copter::get_rate_bf_targets(Vector3f& rate_bf_targets) const
{
rate_bf_targets = attitude_control->rate_bf_targets();
return true;
}
/*
constructor for main Copter class
*/

1
ArduCopter/Copter.h
View File

@ -676,6 +676,7 @@ private:
bool get_wp_distance_m(float &distance) const override;
bool get_wp_bearing_deg(float &bearing) const override;
bool get_wp_crosstrack_error_m(float &xtrack_error) const override;
bool get_rate_bf_targets(Vector3f& rate_bf_targets) const override;
// Attitude.cpp
void update_throttle_hover();