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Implement altitude acceptance radius

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This commit is contained in:
sander
2016-07-30 11:43:52 +02:00
committed by Lorenz Meier
parent b5ef5cabb5
commit e4f20f98cd
4 changed files with 59 additions and 7 deletions
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src/modules/navigator/navigator_main.cpp
+14
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@@ -155,6 +155,8 @@ Navigator::Navigator() :
_follow_target(this, "TAR"),
_param_loiter_radius(this, "LOITER_RAD"),
_param_acceptance_radius(this, "ACC_RAD"),
_param_fw_alt_acceptance_radius(this, "FW_ALT_RAD"),
_param_mc_alt_acceptance_radius(this, "MC_ALT_RAD"),
_param_datalinkloss_act(this, "DLL_ACT"),
_param_rcloss_act(this, "RCL_ACT"),
_param_cruising_speed_hover(this, "MPC_XY_CRUISE", false),
@@ -723,6 +725,18 @@ Navigator::get_acceptance_radius()
return get_acceptance_radius(_param_acceptance_radius.get());
}
float
Navigator::get_altitude_acceptance_radius()
{
if (!this->get_vstatus()->is_rotary_wing) {
return _param_fw_alt_acceptance_radius.get();
} else {
return _param_mc_alt_acceptance_radius.get();
}
}
float
Navigator::get_cruising_speed()
{