AC_WPNav: add set_wp_destination_NED to accept target in meters NED

libraries/AC_WPNav/AC_WPNav.cpp

@@ -470,6 +470,13 @@ bool AC_WPNav::set_wp_destination(const Vector3f& destination, bool terrain_alt)
     return set_wp_origin_and_destination(origin, destination, terrain_alt);
 }
 
+/// set waypoint destination using NED position vector from ekf origin in meters
+bool AC_WPNav::set_wp_destination_NED(const Vector3f& destination_NED)
+{
+    // convert NED to NEU and do not use terrain following
+    return set_wp_destination(Vector3f(destination_NED.x * 100.0f, destination_NED.y * 100.0f, -destination_NED.z * 100.0f), false);
+}
+
 /// set_origin_and_destination - set origin and destination waypoints using position vectors (distance from home in cm)
 ///     terrain_alt should be true if origin.z and destination.z are desired altitudes above terrain (false if these are alt-above-ekf-origin)
 ///     returns false on failure (likely caused by missing terrain data)

libraries/AC_WPNav/AC_WPNav.h

@@ -157,6 +157,9 @@ public:
     ///     terrain_alt should be true if destination.z is a desired altitude above terrain
     bool set_wp_destination(const Vector3f& destination, bool terrain_alt = false);
 
+    /// set waypoint destination using NED position vector from ekf origin in meters
+    bool set_wp_destination_NED(const Vector3f& destination_NED);
+
     /// set_wp_origin_and_destination - set origin and destination waypoints using position vectors (distance from ekf origin in cm)
     ///     terrain_alt should be true if origin.z and destination.z are desired altitudes above terrain (false if these are alt-above-ekf-origin)
     ///     returns false on failure (likely caused by missing terrain data)