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AP_Vehicle: Set position target depends on ext control 

* Used to depend on scripting but now it's used in AP_ExternalControl

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2023-12-12 21:31:29 -07:00 committed by Peter Hall
parent 76861eaa9b
commit faa8ac0085
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_Vehicle/AP_Vehicle.h
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@ -34,6 +34,7 @@
#include <AP_Button/AP_Button.h> #include <AP_Button/AP_Button.h>
#include <AP_Compass/AP_Compass.h> #include <AP_Compass/AP_Compass.h>
#include <AP_EFI/AP_EFI.h> #include <AP_EFI/AP_EFI.h>
#include <AP_ExternalControl/AP_ExternalControl_config.h>
#include <AP_GPS/AP_GPS.h> #include <AP_GPS/AP_GPS.h>
#include <AP_Generator/AP_Generator.h> #include <AP_Generator/AP_Generator.h>
#include <AP_Notify/AP_Notify.h> // Notify library #include <AP_Notify/AP_Notify.h> // Notify library
@ -155,12 +156,15 @@ public:
// returns true if the vehicle has crashed // returns true if the vehicle has crashed
virtual bool is_crashed() const; virtual bool is_crashed() const;
#if AP_EXTERNAL_CONTROL_ENABLED
// Method to control vehicle position for use by external control
virtual bool set_target_location(const Location& target_loc) { return false; }
#endif // AP_EXTERNAL_CONTROL_ENABLED
#if AP_SCRIPTING_ENABLED #if AP_SCRIPTING_ENABLED
/* /*
methods to control vehicle for use by scripting methods to control vehicle for use by scripting
*/ */
virtual bool start_takeoff(float alt) { return false; } virtual bool start_takeoff(float alt) { return false; }
virtual bool set_target_location(const Location& target_loc) { return false; }
virtual bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt) { return false; } virtual bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt) { return false; }
virtual bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) { return false; } virtual bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) { return false; }
virtual bool set_target_posvelaccel_NED(const Vector3f& target_pos, const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) { return false; } virtual bool set_target_posvelaccel_NED(const Vector3f& target_pos, const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) { return false; }