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Copter: add set guided mode angle for scripting

This commit is contained in:
Iampete1 2020-06-01 00:29:13 +01:00 committed by Andrew Tridgell
parent 4aa10a6c30
commit e797685771
2 changed files with 16 additions and 0 deletions
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15
ArduCopter/Copter.cpp
View File

@ -309,6 +309,21 @@ bool Copter::set_target_velocity_NED(const Vector3f& vel_ned)
return true;
}
bool Copter::set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!flightmode->in_guided_mode()) {
return false;
}
Quaternion q;
q.from_euler(radians(roll_deg),radians(pitch_deg),radians(yaw_deg));
mode_guided.set_angle(q,climb_rate_ms*100,use_yaw_rate,radians(yaw_rate_degs));
return true;
}
// rc_loops - reads user input from transmitter/receiver
// called at 100hz
void Copter::rc_loop()

1
ArduCopter/Copter.h
View File

@ -643,6 +643,7 @@ private:
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;
bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) override;
void rc_loop();
void throttle_loop();
void update_batt_compass(void);