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AC_WPNav: add reached_wp_destination_xy

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Peter Barker 2018-07-25 13:39:55 +10:00 committed by Randy Mackay
parent 1eac03a257
commit f0ca4de313
1 changed files with 5 additions and 0 deletions
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libraries/AC_WPNav/AC_WPNav.h
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@ -142,6 +142,11 @@ public:
/// reached_destination - true when we have come within RADIUS cm of the waypoint
bool reached_wp_destination() const { return _flags.reached_destination; }
// reached_wp_destination_xy - true if within RADIUS_CM of waypoint in x/y
bool reached_wp_destination_xy() const {
return get_wp_distance_to_destination() < _wp_radius_cm;
}
/// set_fast_waypoint - set to true to ignore the waypoint radius and consider the waypoint 'reached' the moment the intermediate point reaches it
void set_fast_waypoint(bool fast) { _flags.fast_waypoint = fast; }