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AC_WPNav: add get_target_alt method

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Randy Mackay 2013-04-03 16:14:46 +09:00
parent 6dbcbdcb43
commit bc87118062
2 changed files with 4 additions and 1 deletions
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2
ArduCopter/ArduCopter.pde
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@ -1967,7 +1967,7 @@ void update_throttle_mode(void)
case THROTTLE_AUTO: case THROTTLE_AUTO:
// auto pilot altitude controller with target altitude held in next_WP.alt // auto pilot altitude controller with target altitude held in next_WP.alt
if(motors.auto_armed() == true) { if(motors.auto_armed() == true) {
get_throttle_althold_with_slew(wp_nav.get_destination_alt(), g.auto_velocity_z_min, g.auto_velocity_z_max); get_throttle_althold_with_slew(wp_nav.get_target_alt(), g.auto_velocity_z_min, g.auto_velocity_z_max);
} }
break; break;

3
libraries/AC_WPNav/AC_WPNav.h
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@ -39,6 +39,9 @@ public:
/// get_loiter_target - get loiter target as position vector (from home in cm) /// get_loiter_target - get loiter target as position vector (from home in cm)
Vector3f get_loiter_target() { return _target; } Vector3f get_loiter_target() { return _target; }
/// get_target_alt - get loiter's target altitude
float get_target_alt() { return _target.z; }
/// set_loiter_target in cm from home /// set_loiter_target in cm from home
void set_loiter_target(const Vector3f& position) { _target = position; } void set_loiter_target(const Vector3f& position) { _target = position; }