/// set_wp_destination waypoint using location class
/// returns false if conversion from location to vector from ekf origin cannot be calculated
bool AC_WPNav::set_wp_destination(const Location_Class& destination)
{
bool terr_alt;
Vector3f dest_neu;
// convert destination location to vector
if (!get_vector_NEU(destination, dest_neu, terr_alt)) {
return false;
}
// set target as vector from EKF origin
return set_wp_destination(dest_neu, terr_alt);
}
/// set waypoint destination using NED position vector from ekf origin in meters
bool AC_WPNav::set_wp_destination_NED(const Vector3f& destination_NED)
{
// convert NED to NEU and do not use terrain following
return set_wp_destination(Vector3f(destination_NED.x * 100.0f, destination_NED.y * 100.0f, -destination_NED.z * 100.0f), false);
}
