Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: implement set_target_posvel_NED method for use in scripting

This commit is contained in:
Emre Saldiran 2021-03-21 19:51:58 +03:00 committed by Randy Mackay
parent 858d69ca0e
commit d5715292a3
2 changed files with 15 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
ArduCopter/Copter.cpp
View File

@ -296,6 +296,20 @@ bool Copter::set_target_location(const Location& target_loc)
return mode_guided.set_destination(target_loc);
}
// set target position and velocity (for use by scripting)
bool Copter::set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!flightmode->in_guided_mode()) {
return false;
}
const Vector3f pos_neu_cm(target_pos.x * 100.0f, target_pos.y * 100.0f, -target_pos.z * 100.0f);
const Vector3f vel_neu_cms(target_vel.x * 100.0f, target_vel.y * 100.0f, -target_vel.z * 100.0f);
return mode_guided.set_destination_posvel(pos_neu_cm, vel_neu_cms);
}
bool Copter::set_target_velocity_NED(const Vector3f& vel_ned)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode

1
ArduCopter/Copter.h
View File

@ -648,6 +648,7 @@ private:
void fast_loop() override;
bool start_takeoff(float alt) override;
bool set_target_location(const Location& target_loc) override;
bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) override;
bool set_target_velocity_NED(const Vector3f& vel_ned) override;
bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) override;
void rc_loop();