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AC_WPNav: Add accessor for origin, and make get_bearing_cd() public

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Jacob Walser 2017-02-07 19:41:42 -05:00 committed by Andrew Tridgell
parent 3da4dc7089
commit 96303c3092
1 changed files with 6 additions and 3 deletions
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9
libraries/AC_WPNav/AC_WPNav.h
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@ -144,6 +144,9 @@ public:
/// get_wp_destination waypoint using position vector (distance from home in cm) /// get_wp_destination waypoint using position vector (distance from home in cm)
const Vector3f &get_wp_destination() const { return _destination; } const Vector3f &get_wp_destination() const { return _destination; }
/// get origin using position vector (distance from home in cm)
const Vector3f &get_wp_origin() const { return _origin; }
/// 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 set_wp_destination(const Location_Class& destination); bool set_wp_destination(const Location_Class& destination);
@ -188,6 +191,9 @@ public:
/// calculate_wp_leash_length - calculates track speed, acceleration and leash lengths for waypoint controller /// calculate_wp_leash_length - calculates track speed, acceleration and leash lengths for waypoint controller
void calculate_wp_leash_length(); void calculate_wp_leash_length();
/// get_bearing_cd - return bearing in centi-degrees between two positions
float get_bearing_cd(const Vector3f &origin, const Vector3f &destination) const;
/// ///
/// spline methods /// spline methods
/// ///
@ -277,9 +283,6 @@ protected:
/// updated velocity sent directly to position controller /// updated velocity sent directly to position controller
void calc_loiter_desired_velocity(float nav_dt, float ekfGndSpdLimit); void calc_loiter_desired_velocity(float nav_dt, float ekfGndSpdLimit);
/// get_bearing_cd - return bearing in centi-degrees between two positions
float get_bearing_cd(const Vector3f &origin, const Vector3f &destination) const;
/// calc_slow_down_distance - calculates distance before waypoint that target point should begin to slow-down assuming it is traveling at full speed /// calc_slow_down_distance - calculates distance before waypoint that target point should begin to slow-down assuming it is traveling at full speed
void calc_slow_down_distance(float speed_cms, float accel_cmss); void calc_slow_down_distance(float speed_cms, float accel_cmss);