From 9de73a994fa39b1e15b3477db7b4326dab5b61b7 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 28 Mar 2018 11:09:39 +0900 Subject: [PATCH] AC_Circle: add get distance and bearing to target --- libraries/AC_WPNav/AC_Circle.h | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/libraries/AC_WPNav/AC_Circle.h b/libraries/AC_WPNav/AC_Circle.h index 7c6e94d650..9c392ca183 100644 --- a/libraries/AC_WPNav/AC_Circle.h +++ b/libraries/AC_WPNav/AC_Circle.h @@ -58,6 +58,12 @@ public: // if vehicle is at the center of the circle, the edge directly behind vehicle will be returned void get_closest_point_on_circle(Vector3f &result); + /// get horizontal distance to loiter target in cm + float get_distance_to_target() const { return _pos_control.get_distance_to_target(); } + + /// get bearing to target in centi-degrees + int32_t get_bearing_to_target() const { return _pos_control.get_bearing_to_target(); } + static const struct AP_Param::GroupInfo var_info[]; private: