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Copter: implement get_rate_bf_targets method

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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
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7
ArduCopter/Copter.cpp
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@ -725,6 +725,13 @@ bool Copter::get_wp_crosstrack_error_m(float &xtrack_error) const
return true; 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 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_distance_m(float &distance) const override;
bool get_wp_bearing_deg(float &bearing) const override; bool get_wp_bearing_deg(float &bearing) const override;
bool get_wp_crosstrack_error_m(float &xtrack_error) 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 // Attitude.cpp
void update_throttle_hover(); void update_throttle_hover();