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AC_AttitudeControl: add get_att_target_euler_rad function

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Peter Hall 2021-03-15 16:53:13 +00:00 committed by Randy Mackay
parent 35815a5130
commit a43db51440
1 changed files with 1 additions and 0 deletions
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libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -180,6 +180,7 @@ public:
// **NOTE** Using vector3f*deg(100) is more efficient than deg(vector3f)*100 or deg(vector3d*100) because it gives the // **NOTE** Using vector3f*deg(100) is more efficient than deg(vector3f)*100 or deg(vector3d*100) because it gives the
// same result with the fewest multiplications. Even though it may look like a bug, it is intentional. See issue 4895. // same result with the fewest multiplications. Even though it may look like a bug, it is intentional. See issue 4895.
Vector3f get_att_target_euler_cd() const { return _attitude_target_euler_angle * degrees(100.0f); } Vector3f get_att_target_euler_cd() const { return _attitude_target_euler_angle * degrees(100.0f); }
const Vector3f & get_att_target_euler_rad() const { return _attitude_target_euler_angle; }
// Return the body-to-NED target attitude used by the quadplane-specific attitude control input methods // Return the body-to-NED target attitude used by the quadplane-specific attitude control input methods
Quaternion get_attitude_target_quat() const { return _attitude_target_quat; } Quaternion get_attitude_target_quat() const { return _attitude_target_quat; }