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AC_Circle: add get distance and bearing to target

This commit is contained in:
Randy Mackay 2018-03-28 11:09:39 +09:00
parent 9426ee6df6
commit 9de73a994f
1 changed files with 6 additions and 0 deletions
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6
libraries/AC_WPNav/AC_Circle.h
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@ -58,6 +58,12 @@ public:
// if vehicle is at the center of the circle, the edge directly behind vehicle will be returned // 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); 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[]; static const struct AP_Param::GroupInfo var_info[];
private: private: