mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.1 KiB
C++
46 lines
1.1 KiB
C++
/*
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* AP_Navigator.cpp
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*
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* Created on: Apr 30, 2011
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* Author: jgoppert
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*/
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#include "AP_Navigator.h"
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#include "AP_MavlinkCommand.h"
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namespace apo {
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AP_Navigator::AP_Navigator(AP_HardwareAbstractionLayer * hal) :
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_hal(hal), _timeStamp(0), _roll(0), _rollRate(0), _pitch(0),
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_pitchRate(0), _yaw(0), _yawRate(0),
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_windSpeed(0), _windDirection(0),
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_vN(0), _vE(0), _vD(0), _lat_degInt(0),
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_lon_degInt(0), _alt_intM(0) {
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}
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float AP_Navigator::getPD() const {
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return AP_MavlinkCommand::home.getPD(getAlt_intM());
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}
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float AP_Navigator::getPE() const {
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return AP_MavlinkCommand::home.getPE(getLat_degInt(), getLon_degInt());
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}
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float AP_Navigator::getPN() const {
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return AP_MavlinkCommand::home.getPN(getLat_degInt(), getLon_degInt());
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}
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void AP_Navigator::setPD(float _pD) {
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setAlt(AP_MavlinkCommand::home.getAlt(_pD));
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}
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void AP_Navigator::setPE(float _pE) {
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setLat(AP_MavlinkCommand::home.getLat(_pE));
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}
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void AP_Navigator::setPN(float _pN) {
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setLon(AP_MavlinkCommand::home.getLon(_pN));
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}
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} // namespace apo
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// vim:ts=4:sw=4:expandtab
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