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InertialNav: added get_velocity_xy

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Jason Short 2013-10-28 21:25:14 -07:00 committed by Randy Mackay
parent 94deb1d599
commit 55b22f8635
2 changed files with 14 additions and 1 deletions
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6
libraries/AP_InertialNav/AP_InertialNav.cpp
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@ -276,6 +276,12 @@ void AP_InertialNav::set_velocity_xy(float x, float y)
_velocity.y = y;
}
// set_velocity_xy - set velocity in latitude & longitude directions (in cm/s)
float AP_InertialNav::get_velocity_xy()
{
return safe_sqrt(_velocity.x + _velocity.y);
}
//
// Z Axis methods
//

9
libraries/AP_InertialNav/AP_InertialNav.h
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@ -155,6 +155,13 @@ public:
*/
const Vector3f& get_velocity() const { return _velocity; }
/**
* get_velocity_xy - returns the current horizontal velocity in cm/s
*
* @returns the current horizontal velocity in cm/s
*/
float get_velocity_xy();
/**
* set_velocity_xy - overwrites the current horizontal velocity in cm/s
*
@ -279,7 +286,7 @@ protected:
int32_t _base_lat; // base latitude (home location) in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
int32_t _base_lon; // base longitude (home location) in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
float _lon_to_cm_scaling; // conversion of longitude to centimeters
// Z Axis specific variables
AP_Float _time_constant_z; // time constant for vertical corrections in s
float _k1_z; // gain for vertical position correction