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AC_PosControl: add set_leash_length_xy

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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
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1
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -932,6 +932,7 @@ float AC_PosControl::get_horizontal_error() const
/// should be called whenever the speed, acceleration or position kP is modified
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) {
_leash = calc_leash_length(_speed_cms, _accel_cms, _p_pos_xy.kP());
_flags.recalc_leash_xy = false;

3
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -187,6 +187,9 @@ public:
/// should be called whenever the speed, acceleration or position kP is modified
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)
const Vector3f& get_pos_target() const { return _pos_target; }