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Copter: implement get_circle_radius, set_circle_rate

This commit is contained in:
Randy Mackay 2021-08-24 20:11:42 +09:00 committed by Andrew Tridgell
parent 1725eda961
commit 8c5b079d8e
2 changed files with 16 additions and 0 deletions
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14
ArduCopter/Copter.cpp
View File

@ -337,6 +337,20 @@ bool Copter::set_target_angle_and_climbrate(float roll_deg, float pitch_deg, flo
mode_guided.set_angle(q, climb_rate_ms*100, use_yaw_rate, radians(yaw_rate_degs), false);
return true;
}
// circle mode controls
bool Copter::get_circle_radius(float &radius_m)
{
radius_m = circle_nav->get_radius() * 0.01f;
return true;
}
bool Copter::set_circle_rate(float rate_dps)
{
circle_nav->set_rate(rate_dps);
return true;
}
#endif // ENABLE_SCRIPTING

2
ArduCopter/Copter.h
View File

@ -651,6 +651,8 @@ private:
bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) override;
bool set_target_velocity_NED(const Vector3f& vel_ned) override;
bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) override;
bool get_circle_radius(float &radius_m) override;
bool set_circle_rate(float rate_dps) override;
#endif // ENABLE_SCRIPTING
void rc_loop();
void throttle_loop();