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Copter: fix wp distance and bearing reporting during LOITER_TURNS

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This commit is contained in:
Randy Mackay 2019-04-25 11:48:39 +09:00
parent b668c6f855
commit 791b6effdd
1 changed files with 16 additions and 2 deletions
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18
ArduCopter/mode_auto.cpp
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@ -573,12 +573,26 @@ bool Copter::ModeAuto::do_guided(const AP_Mission::Mission_Command& cmd)
uint32_t Copter::ModeAuto::wp_distance() const
{
return wp_nav->get_wp_distance_to_destination();
switch (_mode) {
case Auto_Circle:
return copter.circle_nav->get_distance_to_target();
case Auto_WP:
case Auto_CircleMoveToEdge:
default:
return wp_nav->get_wp_distance_to_destination();
}
}
int32_t Copter::ModeAuto::wp_bearing() const
{
return wp_nav->get_wp_bearing_to_destination();
switch (_mode) {
case Auto_Circle:
return copter.circle_nav->get_bearing_to_target();
case Auto_WP:
case Auto_CircleMoveToEdge:
default:
return wp_nav->get_wp_bearing_to_destination();
}
}
bool Copter::ModeAuto::get_wp(Location& destination)