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Plane: Allow AP_Soaring to specify loiter radius in THERMAL mode.

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This commit is contained in:
Samuel Tabor 2021-01-20 21:08:27 +00:00 committed by Tom Pittenger
parent 4ec1e55833
commit d2c8eb8ce9
1 changed files with 4 additions and 2 deletions
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6
ArduPlane/mode_thermal.cpp
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@ -114,8 +114,10 @@ void ModeThermal::update_soaring()
void ModeThermal::navigate() void ModeThermal::navigate()
{ {
// Zero indicates to use WP_LOITER_RAD // Soaring library calculates radius from SOAR_THML_BANK.
plane.update_loiter(0); const float radius = plane.g2.soaring_controller.get_thermalling_radius();
plane.update_loiter(radius);
} }
bool ModeThermal::exit_heading_aligned() const bool ModeThermal::exit_heading_aligned() const