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AC_WPNav: accept terrain library reference

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This commit is contained in:
Randy Mackay 2016-04-23 16:27:02 +09:00
parent e23c869c5d
commit c5a3781507
1 changed files with 6 additions and 1 deletions
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7
libraries/AC_WPNav/AC_WPNav.h
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@ -8,6 +8,7 @@
#include <AP_InertialNav/AP_InertialNav.h> // Inertial Navigation library
#include <AC_AttitudeControl/AC_PosControl.h> // Position control library
#include <AC_AttitudeControl/AC_AttitudeControl.h> // Attitude control library
#include <AP_Terrain/AP_Terrain.h>
// loiter maximum velocities and accelerations
#define WPNAV_ACCELERATION 100.0f // defines the default velocity vs distant curve. maximum acceleration in cm/s/s that position controller asks for from acceleration controller
@ -53,6 +54,9 @@ public:
/// Constructor
AC_WPNav(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosControl& pos_control, const AC_AttitudeControl& attitude_control);
/// provide pointer to terrain database
void set_terrain(AP_Terrain* terrain_ptr) { _terrain = terrain_ptr; }
///
/// loiter controller
///
@ -300,11 +304,12 @@ protected:
// returns false if conversion failed (likely because terrain data was not available)
bool get_vector_NEU(const Location_Class &loc, Vector3f &vec, bool &terrain_alt);
// references to inertial nav and ahrs libraries
// references and pointers to external libraries
const AP_InertialNav& _inav;
const AP_AHRS& _ahrs;
AC_PosControl& _pos_control;
const AC_AttitudeControl& _attitude_control;
AP_Terrain *_terrain = NULL;
// parameters
AP_Float _loiter_speed_cms; // maximum horizontal speed in cm/s while in loiter