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AC_WPNav: add rangefinder_used accessor

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Randy Mackay 2020-04-09 14:04:59 +09:00
parent 0ab4a184d4
commit f3e2b182a1
1 changed files with 1 additions and 0 deletions
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libraries/AC_WPNav/AC_WPNav.h
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@ -55,6 +55,7 @@ public:
void set_rangefinder_alt(bool use, bool healthy, float alt_cm) { _rangefinder_available = use; _rangefinder_healthy = healthy; _rangefinder_alt_cm = alt_cm; }
// return true if range finder may be used for terrain following
bool rangefinder_used() const { return _rangefinder_use; }
bool rangefinder_used_and_healthy() const { return _rangefinder_use && _rangefinder_healthy; }
// get expected source of terrain data if alt-above-terrain command is executed (used by Copter's ModeRTL)