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AC_WPNav: add set_speed_z

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chobits 2018-10-09 13:34:30 +08:00 committed by Randy Mackay
parent 95ea3d8726
commit 7fa7c8f403
2 changed files with 13 additions and 0 deletions
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10
libraries/AC_WPNav/AC_WPNav.cpp
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@ -171,6 +171,16 @@ void AC_WPNav::set_speed_xy(float speed_cms)
} }
} }
/// set_speed_z - allows main code to pass target vertical velocity for wp navigation
void AC_WPNav::set_speed_z(float speed_down_cms, float speed_up_cms)
{
_wp_speed_down_cms = speed_down_cms;
_wp_speed_up_cms = speed_up_cms;
_pos_control.set_max_speed_z(_wp_speed_down_cms, _wp_speed_up_cms);
// flag that wp leash must be recalculated
_flags.recalc_wp_leash = true;
}
/// set_wp_destination waypoint using location class /// set_wp_destination waypoint using location class
/// returns false if conversion from location to vector from ekf origin cannot be calculated /// returns false if conversion from location to vector from ekf origin cannot be calculated
bool AC_WPNav::set_wp_destination(const Location_Class& destination) bool AC_WPNav::set_wp_destination(const Location_Class& destination)

3
libraries/AC_WPNav/AC_WPNav.h
View File

@ -78,6 +78,9 @@ public:
/// set_speed_xy - allows main code to pass target horizontal velocity for wp navigation /// set_speed_xy - allows main code to pass target horizontal velocity for wp navigation
void set_speed_xy(float speed_cms); void set_speed_xy(float speed_cms);
/// set_speed_z - allows main code to pass target vertical velocity for wp navigation
void set_speed_z(float speed_down_cms, float speed_up_cms);
/// get_speed_xy - allows main code to retrieve target horizontal velocity for wp navigation /// get_speed_xy - allows main code to retrieve target horizontal velocity for wp navigation
float get_speed_xy() const { return _wp_speed_cms; } float get_speed_xy() const { return _wp_speed_cms; }