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ArduCopter: add support for MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET

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This commit is contained in:
Peter Barker
2026-06-03 09:54:28 +10:00
committed by Peter Barker
parent 39382ce997
commit 7d83e7d0bd
2 changed files with 10 additions and 0 deletions
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ArduCopter/Copter.cpp
+7
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@@ -941,6 +941,13 @@ void Copter::update_altitude()
}
// vehicle specific waypoint info helpers
#if AP_MOUNT_ROI_WPNEXT_OFFSET_ENABLED
bool Copter::get_wp_location(Location &loc) const
{
return flightmode->get_wp(loc);
}
#endif // AP_MOUNT_ROI_WPNEXT_OFFSET_ENABLED
bool Copter::get_wp_distance_m(float &distance) const
{
// see GCS_MAVLINK_Copter::send_nav_controller_output()
ArduCopter/Copter.h
+3
View File
@@ -721,6 +721,9 @@ private:
void read_AHRS(void);
void update_altitude();
bool get_wp_distance_m(float &distance) const override;
#if AP_MOUNT_ROI_WPNEXT_OFFSET_ENABLED
bool get_wp_location(Location &loc) const override;
#endif // AP_MOUNT_ROI_WPNEXT_OFFSET_ENABLED
bool get_wp_bearing_deg(float &bearing) const override;
bool get_wp_crosstrack_error_m(float &xtrack_error) const override;
bool get_rate_ef_targets(Vector3f& rate_ef_targets_rads) const override;