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SITL: add a hagl method to aircraft

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This commit is contained in:
Peter Barker 2016-11-23 11:19:02 +11:00
parent f1c23dc9be
commit f8918d15b1
2 changed files with 11 additions and 1 deletions
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9
libraries/SITL/SIM_Aircraft.cpp
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@ -132,12 +132,19 @@ float Aircraft::ground_height_difference() const
return 0.0f; return 0.0f;
} }
/*
return current height above ground level (metres)
*/
float Aircraft::hagl() const
{
return (-position.z) + home.alt*0.01f - ground_level - frame_height - ground_height_difference();
}
/* /*
return true if we are on the ground return true if we are on the ground
*/ */
bool Aircraft::on_ground() const bool Aircraft::on_ground() const
{ {
return (-position.z) + home.alt*0.01f <= ground_level + frame_height + ground_height_difference(); return hagl() <= 0;
} }
/* /*

3
libraries/SITL/SIM_Aircraft.h
View File

@ -173,6 +173,9 @@ protected:
bool on_ground() const; bool on_ground() const;
// returns height above ground level in metres
float hagl() const; // metres
/* update location from position */ /* update location from position */
void update_position(void); void update_position(void);