From 8c5b079d8ef174cd37730316256b2f3b7b893abf Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 24 Aug 2021 20:11:42 +0900
Subject: [PATCH] Copter: implement get_circle_radius, set_circle_rate

---
 ArduCopter/Copter.cpp | 14 ++++++++++++++
 ArduCopter/Copter.h   |  2 ++
 2 files changed, 16 insertions(+)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 66316d0c64..c66f39f68e 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -337,6 +337,20 @@ bool Copter::set_target_angle_and_climbrate(float roll_deg, float pitch_deg, flo
     mode_guided.set_angle(q, climb_rate_ms*100, use_yaw_rate, radians(yaw_rate_degs), false);
     return true;
 }
+
+// circle mode controls
+bool Copter::get_circle_radius(float &radius_m)
+{
+    radius_m = circle_nav->get_radius() * 0.01f;
+    return true;
+}
+
+bool Copter::set_circle_rate(float rate_dps)
+{
+    circle_nav->set_rate(rate_dps);
+    return true;
+}
+
 #endif // ENABLE_SCRIPTING
 
 
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 24617a8925..a542a46fdd 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -651,6 +651,8 @@ private:
     bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) override;
     bool set_target_velocity_NED(const Vector3f& vel_ned) override;
     bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) override;
+    bool get_circle_radius(float &radius_m) override;
+    bool set_circle_rate(float rate_dps) override;
 #endif // ENABLE_SCRIPTING
     void rc_loop();
     void throttle_loop();