Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AR_WPNav: add oa_wp_bearing_cd function

Browse Source
This commit is contained in:
Peter Hall 2019-08-23 11:49:06 +01:00 committed by Randy Mackay
parent c445362fae
commit db87285153
1 changed files with 3 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AR_WPNav/AR_WPNav.h
View File

@ -66,6 +66,9 @@ public:
float nav_bearing_cd() const { return _desired_heading_cd; }
float crosstrack_error() const { return _cross_track_error; }
// return the heading (in centi-degrees) to the next waypoint accounting for OA, (used by sailboats)
float oa_wp_bearing_cd() const { return _oa_wp_bearing_cd; }
// settor to allow vehicle code to provide turn related param values to this library (should be updated regularly)
void set_turn_params(float turn_max_g, float turn_radius, bool pivot_possible);