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AC_AttitudeControl: Add AC_PosControl::get_bearing_to_target() method

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Dr.-Ing. Amilcar Do Carmo Lucas 2017-11-27 13:21:13 +01:00 committed by Randy Mackay
parent 63639a0838
commit fa4427fbce
2 changed files with 10 additions and 1 deletions
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8
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -617,12 +617,18 @@ void AC_PosControl::get_stopping_point_xy(Vector3f &stopping_point) const
stopping_point.y = curr_pos.y + (stopping_dist * curr_vel.y / vel_total); stopping_point.y = curr_pos.y + (stopping_dist * curr_vel.y / vel_total);
} }
/// get_distance_to_target - get horizontal distance to loiter target in cm /// get_distance_to_target - get horizontal distance to target position in cm
float AC_PosControl::get_distance_to_target() const float AC_PosControl::get_distance_to_target() const
{ {
return _distance_to_target; return _distance_to_target;
} }
/// get_bearing_to_target - get bearing to target position in centi-degrees
int32_t AC_PosControl::get_bearing_to_target() const
{
return get_bearing_cd(_inav.get_position(), _pos_target);
}
// is_active_xy - returns true if the xy position controller has been run very recently // is_active_xy - returns true if the xy position controller has been run very recently
bool AC_PosControl::is_active_xy() const bool AC_PosControl::is_active_xy() const
{ {

3
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -262,6 +262,9 @@ public:
/// get_distance_to_target - get horizontal distance to position target in cm (used for reporting) /// get_distance_to_target - get horizontal distance to position target in cm (used for reporting)
float get_distance_to_target() const; float get_distance_to_target() const;
/// get_bearing_to_target - get bearing to target position in centi-degrees
int32_t get_bearing_to_target() const;
/// xyz velocity controller /// xyz velocity controller
/// init_vel_controller_xyz - initialise the velocity controller - should be called once before the caller attempts to use the controller /// init_vel_controller_xyz - initialise the velocity controller - should be called once before the caller attempts to use the controller