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AR_WPNav: make get_stopping_location public

This commit is contained in:
Peter Hall 2019-09-27 00:18:46 +01:00 committed by Randy Mackay
parent e28d56f63a
commit b6efcbcf3b
1 changed files with 4 additions and 4 deletions
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8
libraries/AR_WPNav/AR_WPNav.h
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@ -81,6 +81,10 @@ public:
float get_overshoot() const { return _overshoot; }
float get_pivot_rate() const { return _pivot_rate; }
// calculate stopping location using current position and attitude controller provided maximum deceleration
// returns true on success, false on failure
bool get_stopping_location(Location& stopping_loc) WARN_IF_UNUSED;
// parameter var table
static const struct AP_Param::GroupInfo var_info[];
@ -101,10 +105,6 @@ private:
// have been updated: _wp_bearing_cd, _cross_track_error, _distance_to_destination
void update_desired_speed(float dt);
// calculate stopping location using current position and attitude controller provided maximum deceleration
// returns true on success, false on failure
bool get_stopping_location(Location& stopping_loc) WARN_IF_UNUSED;
// returns true if vehicle should pivot turn at next waypoint
bool use_pivot_steering_at_next_WP(float yaw_error_cd) const;