Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-20 07:38:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_PosControl: add set_leash_length_xy

Browse Source
This commit is contained in:
Leonard Hall 2018-01-11 21:28:20 +09:00 committed by Randy Mackay
parent e5bc2b26fe
commit dadc6a63c4
2 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
libraries/AC_AttitudeControl/AC_PosControl.cpp
View File

@ -932,6 +932,7 @@ float AC_PosControl::get_horizontal_error() const
/// should be called whenever the speed, acceleration or position kP is modified /// should be called whenever the speed, acceleration or position kP is modified
void AC_PosControl::calc_leash_length_xy() void AC_PosControl::calc_leash_length_xy()
{ {
// todo: remove _flags.recalc_leash_xy or don't call this function after each variable change.
if (_flags.recalc_leash_xy) { if (_flags.recalc_leash_xy) {
_leash = calc_leash_length(_speed_cms, _accel_cms, _p_pos_xy.kP()); _leash = calc_leash_length(_speed_cms, _accel_cms, _p_pos_xy.kP());
_flags.recalc_leash_xy = false; _flags.recalc_leash_xy = false;

3
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -187,6 +187,9 @@ public:
/// should be called whenever the speed, acceleration or position kP is modified /// should be called whenever the speed, acceleration or position kP is modified
void calc_leash_length_xy(); void calc_leash_length_xy();
/// set the horizontal leash length
void set_leash_length_xy(float leash) { _leash = leash; _flags.recalc_leash_xy = false; }
/// get_pos_target - get target as position vector (from home in cm) /// get_pos_target - get target as position vector (from home in cm)
const Vector3f& get_pos_target() const { return _pos_target; } const Vector3f& get_pos_target() const { return _pos_target; }