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

ArduCopter: added virtual getters for waypopint info

Browse Source
This commit is contained in:
yaapu 2020-12-05 19:44:07 +01:00 committed by Peter Barker
parent edf2291fb0
commit 497dbd1414
2 changed files with 25 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
ArduCopter/Copter.cpp
View File

@ -202,9 +202,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
#if STATS_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Stats, &copter.g2.stats, update, 1, 100),
#endif
#if OSD_ENABLED == ENABLED
SCHED_TASK(publish_osd_info, 1, 10),
#endif
};
void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
@ -617,17 +614,29 @@ void Copter::update_altitude()
}
}
#if OSD_ENABLED == ENABLED
void Copter::publish_osd_info()
// vehicle specific waypoint info helpers
bool Copter::get_wp_distance_m(float &distance) const
{
AP_OSD::NavInfo nav_info;
nav_info.wp_distance = flightmode->wp_distance() * 1.0e-2f;
nav_info.wp_bearing = flightmode->wp_bearing();
nav_info.wp_xtrack_error = flightmode->crosstrack_error() * 1.0e-2f;
nav_info.wp_number = mode_auto.mission.get_current_nav_index();
osd.set_nav_info(nav_info);
// see GCS_MAVLINK_Copter::send_nav_controller_output()
distance = flightmode->wp_distance() * 0.01;
return true;
}
// vehicle specific waypoint info helpers
bool Copter::get_wp_bearing_deg(float &bearing) const
{
// see GCS_MAVLINK_Copter::send_nav_controller_output()
bearing = flightmode->wp_bearing() * 0.01;
return true;
}
// vehicle specific waypoint info helpers
bool Copter::get_wp_crosstrack_error_m(float &xtrack_error) const
{
// see GCS_MAVLINK_Copter::send_nav_controller_output()
xtrack_error = flightmode->crosstrack_error() * 0.01;
return true;
}
#endif
/*
constructor for main Copter class

7
ArduCopter/Copter.h
View File

@ -887,9 +887,10 @@ private:
void userhook_auxSwitch2(uint8_t ch_flag);
void userhook_auxSwitch3(uint8_t ch_flag);
#if OSD_ENABLED == ENABLED
void publish_osd_info();
#endif
// vehicle specific waypoint info helpers
bool get_wp_distance_m(float &distance) const override;
bool get_wp_bearing_deg(float &bearing) const override;
bool get_wp_crosstrack_error_m(float &xtrack_error) const override;
Mode *flightmode;
#if MODE_ACRO_ENABLED == ENABLED