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AP_Landing: Leverage new nav_controller loiter radius interface

This commit is contained in:
Michael du Breuil 2017-03-19 17:39:20 -07:00 committed by Andrew Tridgell
parent 7b2da01836
commit a0cb34db57
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_Landing/AP_Landing_Deepstall.cpp
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@ -375,9 +375,11 @@ void AP_Landing_Deepstall::build_approach_path(void)
memcpy(&arc, &arc_exit, sizeof(Location));
memcpy(&arc_entry, &arc_exit, sizeof(Location));
float loiter_radius = landing.nav_controller->loiter_radius(landing.aparm.loiter_radius);
// TODO: Support loitering on either side of the approach path
location_update(arc, target_heading_deg + 90.0, landing.aparm.loiter_radius);
location_update(arc_entry, target_heading_deg + 90.0, landing.aparm.loiter_radius * 2);
location_update(arc, target_heading_deg + 90.0, loiter_radius);
location_update(arc_entry, target_heading_deg + 90.0, loiter_radius * 2);
#ifdef DEBUG_PRINTS
// TODO: Send this information via a MAVLink packet