From 939d8e3ed4f1f4f3dfd7a90ec6e4eb201071aa4f Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Tue, 13 Apr 2021 13:52:56 +0930
Subject: [PATCH] AC_WPNav: Support Thrust Vector Control

---
 libraries/AC_WPNav/AC_Circle.h | 1 +
 libraries/AC_WPNav/AC_Loiter.h | 1 +
 libraries/AC_WPNav/AC_WPNav.h  | 1 +
 3 files changed, 3 insertions(+)

diff --git a/libraries/AC_WPNav/AC_Circle.h b/libraries/AC_WPNav/AC_Circle.h
index 819990570b..4285bcaef1 100644
--- a/libraries/AC_WPNav/AC_Circle.h
+++ b/libraries/AC_WPNav/AC_Circle.h
@@ -66,6 +66,7 @@ public:
     /// get desired roll, pitch which should be fed into stabilize controllers
     float get_roll() const { return _pos_control.get_roll(); }
     float get_pitch() const { return _pos_control.get_pitch(); }
+    Vector3f get_thrust_vector() const { return _pos_control.get_thrust_vector(); }
     float get_yaw() const { return _yaw; }
 
     /// returns true if update has been run recently
diff --git a/libraries/AC_WPNav/AC_Loiter.h b/libraries/AC_WPNav/AC_Loiter.h
index 65d6c0736d..b3873aa8a7 100644
--- a/libraries/AC_WPNav/AC_Loiter.h
+++ b/libraries/AC_WPNav/AC_Loiter.h
@@ -53,6 +53,7 @@ public:
     /// get desired roll, pitch which should be fed into stabilize controllers
     float get_roll() const { return _pos_control.get_roll(); }
     float get_pitch() const { return _pos_control.get_pitch(); }
+    Vector3f get_thrust_vector() const { return _pos_control.get_thrust_vector(); }
 
     static const struct AP_Param::GroupInfo var_info[];
 
diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
index b8432a6232..358602a83a 100644
--- a/libraries/AC_WPNav/AC_WPNav.h
+++ b/libraries/AC_WPNav/AC_WPNav.h
@@ -200,6 +200,7 @@ public:
     /// get desired roll, pitch which should be fed into stabilize controllers
     float get_roll() const { return _pos_control.get_roll(); }
     float get_pitch() const { return _pos_control.get_pitch(); }
+    Vector3f get_thrust_vector() const { return _pos_control.get_thrust_vector(); }
 
     /// advance_wp_target_along_track - move target location along track from origin to destination
     bool advance_wp_target_along_track(float dt);