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AP_InertialNav: rename to get_position_xy() & get_velocity_xy()

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This commit is contained in:
Josh Henderson 2021-09-11 04:40:29 -04:00 committed by Andrew Tridgell
parent 28d9be1cc0
commit 027336dbb8
2 changed files with 34 additions and 0 deletions
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20
libraries/AP_InertialNav/AP_InertialNav.cpp
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@ -61,6 +61,16 @@ const Vector3f &AP_InertialNav::get_position(void) const
return _relpos_cm; return _relpos_cm;
} }
/**
* get_position_xy - returns the current x-y position relative to the home location in cm.
*
* @return
*/
const Vector2f &AP_InertialNav::get_position_xy() const
{
return _relpos_cm.xy();
}
/** /**
* get_velocity - returns the current velocity in cm/s * get_velocity - returns the current velocity in cm/s
* *
@ -74,6 +84,16 @@ const Vector3f &AP_InertialNav::get_velocity() const
return _velocity_cm; return _velocity_cm;
} }
/**
* get_velocity_xy - returns the current x-y velocity relative to the home location in cm.
*
* @return
*/
const Vector2f &AP_InertialNav::get_velocity_xy() const
{
return _velocity_cm.xy();
}
/** /**
* get_speed_xy - returns the current horizontal speed in cm/s * get_speed_xy - returns the current horizontal speed in cm/s
* *

14
libraries/AP_InertialNav/AP_InertialNav.h
View File

@ -35,6 +35,13 @@ public:
*/ */
const Vector3f& get_position() const; const Vector3f& get_position() const;
/**
* get_position_xy - returns the current x-y position relative to the home location in cm.
*
* @return
*/
const Vector2f& get_position_xy() const;
/** /**
* get_velocity - returns the current velocity in cm/s * get_velocity - returns the current velocity in cm/s
* *
@ -45,6 +52,13 @@ public:
*/ */
const Vector3f& get_velocity() const; const Vector3f& get_velocity() const;
/**
* get_velocity_xy - returns the current x-y velocity relative to the home location in cm.
*
* @return
*/
const Vector2f& get_velocity_xy() const;
/** /**
* get_speed_xy - returns the current horizontal speed in cm/s * get_speed_xy - returns the current horizontal speed in cm/s
* *