Plane: Send a quadplane version of NAV_CONTROLLER_OUTPUT #9012
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#9004 frees up the required space for the feature on px4-v2. |
peterbarker
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Aug 1, 2018
ArduPlane/GCS_Mavlink.cpp
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| targets.z * 1.0e-2f, | ||
| wp_nav_valid ? quadplane.wp_nav->get_wp_bearing_to_destination() : 0, | ||
| wp_nav_valid ? MIN(quadplane.wp_nav->get_wp_distance_to_destination(), UINT16_MAX) : 0, | ||
| plane.control_mode != QSTABILIZE ? quadplane.pos_control->get_alt_error() * 1.0e-2f : 0, |
ArduPlane/GCS_Mavlink.cpp
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| nav_controller->crosstrack_error()); | ||
| if (quadplane.in_vtol_mode()) { | ||
| const Vector3f &targets = quadplane.attitude_control->get_att_target_euler_cd(); | ||
| bool wp_nav_valid = plane.control_mode == QLOITER || plane.control_mode == QLAND || plane.control_mode == QRTL; |
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I wasn't confident enough if this was a dirty hack or generally sufficient to make it a method...
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Send a quadplane appropriate version of NAV_CONTROLLER_OUTPUT to the GCS. Resolves #9002