aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_L1_Controller: add accessor for xtrack_error_integrator

Browse Source
This commit is contained in:
Tom Pittenger 2016-04-20 15:34:23 -07:00
parent 85913bd237
commit 2ce964c8ac
3 changed files with 5 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_L1_Control/AP_L1_Control.cpp
View File

@ -109,11 +109,6 @@ bool AP_L1_Control::reached_loiter_target(void)
return _WPcircle;
}
float AP_L1_Control::crosstrack_error(void) const
{
return _crosstrack_error;
}
/**
prevent indecision in our turning by using our previous turn
decision if we are in a narrow angle band pointing away from the

3
libraries/AP_L1_Control/AP_L1_Control.h
View File

@ -38,7 +38,8 @@ public:
// return the heading error angle (centi-degrees) +ve to left of track
int32_t bearing_error_cd(void) const;
float crosstrack_error(void) const;
float crosstrack_error(void) const { return _crosstrack_error; }
float crosstrack_error_integrator(void) const { return _L1_xtrack_i; }
int32_t target_bearing_cd(void) const;
float turn_distance(float wp_radius) const;

4
libraries/AP_Navigation/AP_Navigation.h
View File

@ -45,7 +45,9 @@ public:
// return the crosstrack error in meters. This is the distance in
// the X-Y plane that we are off the desired track
virtual float crosstrack_error(void) const = 0;
virtual float crosstrack_error(void) const = 0;
virtual float crosstrack_error_integrator(void) const { return 0; }
// return the distance in meters at which a turn should commence
// to allow the vehicle to neatly move to the next track in the