Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 09:28:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: implement set_target_location method

Browse Source
This commit is contained in:
Randy Mackay 2020-02-18 13:11:31 +09:00 committed by WickedShell
parent 6f5d733ba9
commit a9630d67d1
2 changed files with 12 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
ArduCopter/Copter.cpp
View File

@ -271,6 +271,17 @@ void Copter::fast_loop()
} }
} }
// set target location (for use by scripting)
bool Copter::set_target_location(const Location& target_loc)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!flightmode->in_guided_mode()) {
return false;
}
return mode_guided.set_destination(target_loc);
}
// rc_loops - reads user input from transmitter/receiver // rc_loops - reads user input from transmitter/receiver
// called at 100hz // called at 100hz
void Copter::rc_loop() void Copter::rc_loop()

1
ArduCopter/Copter.h
View File

@ -636,6 +636,7 @@ private:
uint8_t &task_count, uint8_t &task_count,
uint32_t &log_bit) override; uint32_t &log_bit) override;
void fast_loop() override; void fast_loop() override;
bool set_target_location(const Location& target_loc) override;
void rc_loop(); void rc_loop();
void throttle_loop(); void throttle_loop();
void update_batt_compass(void); void update_batt_compass(void);