// auto_nav_guided_start - hand over control to external navigation controller in AUTO mode void Copter::auto_nav_guided_start() { auto_mode = Auto_NavGuided; // call regular guided flight mode initialisation guided_init(true); // initialise guided start time and position as reference for limit checking guided_limit_init_time_and_pos(); }
// do_nav_guided_enable - initiate accepting commands from external nav computer void Copter::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd) { if (cmd.p1 > 0) { // initialise guided limits guided_limit_init_time_and_pos(); // set spline navigation target auto_nav_guided_start(); } }