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Copter: follow return wp_distance and wp_bearing

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This commit is contained in:
Randy Mackay 2018-12-11 18:37:30 +09:00
parent 528ed38ecf
commit c8cbbb9246
2 changed files with 12 additions and 0 deletions
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2
ArduCopter/mode.h
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@ -1235,6 +1235,8 @@ protected:
const char *name() const override { return "FOLLOW"; }
const char *name4() const override { return "FOLL"; }
uint32_t wp_distance() const override;
int32_t wp_bearing() const override;
uint32_t last_log_ms; // system time of last time desired velocity was logging
};

10
ArduCopter/mode_follow.cpp
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@ -150,4 +150,14 @@ void Copter::ModeFollow::run()
Copter::ModeGuided::run();
}
uint32_t Copter::ModeFollow::wp_distance() const
{
return g2.follow.get_distance_to_target() * 100;
}
int32_t Copter::ModeFollow::wp_bearing() const
{
return g2.follow.get_bearing_to_target() * 100;
}
#endif // MODE_FOLLOW_ENABLED == ENABLED