set_target_location for loiter and guided modes

ArduPilot · Aug 22, 2023 · 6c17248 · 6c17248
1 parent de57df3
commit 6c17248
Show file tree

Hide file tree

Showing 2 changed files with 11 additions and 0 deletions.
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -988,6 +988,7 @@ class ModeGuided : public Mode {
     //             IF false: climb_rate_cms_or_thrust represents climb_rate (cm/s)
     void set_angle(const Quaternion &attitude_quat, const Vector3f &ang_vel, float climb_rate_cms_or_thrust, bool use_thrust);
 
+    bool set_target_location(const Location& dest_loc) override { return set_destination(dest_loc); }
     bool set_destination(const Vector3f& destination, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false, bool terrain_alt = false);
     bool set_destination(const Location& dest_loc, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false);
     bool get_wp(Location &loc) const override;
@@ -1191,6 +1192,7 @@ class ModeLoiter : public Mode {
 
 #if AC_PRECLAND_ENABLED
     void set_precision_loiter_enabled(bool value) { _precision_loiter_enabled = value; }
+    bool set_target_location(const Location& location) override;
 #endif
 
 protected:

diff --git a/ArduCopter/mode_loiter.cpp b/ArduCopter/mode_loiter.cpp
@@ -213,4 +213,13 @@ int32_t ModeLoiter::wp_bearing() const
     return loiter_nav->get_bearing_to_target();
 }
 
+#if AC_PRECLAND_ENABLED
+
+bool ModeLoiter::set_target_location(const Location& location)
+{
+    return copter.precland.set_target_location(location);
+}
+
+#endif
+
 #endif