mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Ryan Friedman
cc025f8fe7
* Similar to MAV_CMD_GUIDED_CHANGE_SPEED Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
42 lines
983 B
C++
42 lines
983 B
C++
/*
|
|
external control library for plane
|
|
*/
|
|
|
|
|
|
#include "AP_ExternalControl_Plane.h"
|
|
#if AP_EXTERNAL_CONTROL_ENABLED
|
|
|
|
#include "Plane.h"
|
|
|
|
/*
|
|
Sets the target global position for a loiter point.
|
|
*/
|
|
bool AP_ExternalControl_Plane::set_global_position(const Location& loc)
|
|
{
|
|
|
|
// set_target_location already checks if plane is ready for external control.
|
|
// It doesn't check if flying or armed, just that it's in guided mode.
|
|
return plane.set_target_location(loc);
|
|
}
|
|
|
|
/*
|
|
Sets the target airspeed.
|
|
*/
|
|
bool AP_ExternalControl_Plane::set_airspeed(const float airspeed)
|
|
{
|
|
#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
|
|
// The command is only valid in guided mode.
|
|
if (plane.control_mode != &plane.mode_guided) {
|
|
return false;
|
|
}
|
|
|
|
// Assume the user wanted maximum acceleration.
|
|
const float acc_instant = 0.0;
|
|
return plane.mode_guided.handle_change_airspeed(airspeed, acc_instant);
|
|
#else
|
|
return false;
|
|
#endif
|
|
}
|
|
|
|
#endif // AP_EXTERNAL_CONTROL_ENABLED
|