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AC_Attitude_Control: add get_attitude_target_ang_vel

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Joshua Henderson 2022-02-03 02:53:29 -05:00 committed by Randy Mackay
parent f3cac9e1aa
commit 4b51dc73b5
1 changed files with 3 additions and 0 deletions
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libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -210,6 +210,9 @@ public:
// Return the body-to-NED target attitude used by the quadplane-specific attitude control input methods
Quaternion get_attitude_target_quat() const { return _attitude_target; }
// Return the angular velocity of the target (setpoint) [rad/s] in the target attitude frame
const Vector3f& get_attitude_target_ang_vel() const { return _ang_vel_target;}
// Return the angle between the target thrust vector and the current thrust vector.
float get_att_error_angle_deg() const { return degrees(_thrust_error_angle); }