Copter: implement start_takeoff and set_target_velocity_NED for use in scripting

ArduCopter/Copter.cpp

@@ -271,6 +271,21 @@ void Copter::fast_loop()
     }
 }
 
+// start takeoff to given altitude (for use by scripting)
+bool Copter::start_takeoff(float alt)
+{
+    // exit if vehicle is not in Guided mode or Auto-Guided mode
+    if (!flightmode->in_guided_mode()) {
+        return false;
+    }
+
+    if (mode_guided.do_user_takeoff_start(alt * 100.0f)) {
+        copter.set_auto_armed(true);
+        return true;
+    }
+    return false;
+}
+
 // set target location (for use by scripting)
 bool Copter::set_target_location(const Location& target_loc)
 {
@@ -282,6 +297,19 @@ bool Copter::set_target_location(const Location& target_loc)
     return mode_guided.set_destination(target_loc);
 }
 
+bool Copter::set_target_velocity_NED(const Vector3f& vel_ned)
+{
+    // exit if vehicle is not in Guided mode or Auto-Guided mode
+    if (!flightmode->in_guided_mode()) {
+        return false;
+    }
+
+    // convert vector to neu in cm
+    const Vector3f vel_neu_cms(vel_ned.x * 100.0f, vel_ned.y * 100.0f, -vel_ned.z * 100.0f);
+    mode_guided.set_velocity(vel_neu_cms);
+    return true;
+}
+
 // rc_loops - reads user input from transmitter/receiver
 // called at 100hz
 void Copter::rc_loop()

ArduCopter/Copter.h

@@ -636,7 +636,9 @@ private:
                              uint8_t &task_count,
                              uint32_t &log_bit) override;
     void fast_loop() override;
+    bool start_takeoff(float alt) override;
     bool set_target_location(const Location& target_loc) override;
+    bool set_target_velocity_NED(const Vector3f& vel_ned) override;
     void rc_loop();
     void throttle_loop();
     void update_batt_compass(void);