Exemplos de guided_set_destination em C++ (Cpp)

Exemplo n.º 1

Arquivo: commands_logic.cpp Projeto: liuchangmaker/ardupilot

// do_guided - start guided mode
bool Copter::do_guided(const AP_Mission::Mission_Command& cmd)
{
    // only process guided waypoint if we are in guided mode
    if (control_mode != GUIDED && !(control_mode == AUTO && auto_mode == Auto_NavGuided)) {
        return false;
    }

    // switch to handle different commands
    switch (cmd.id) {

        case MAV_CMD_NAV_WAYPOINT:
        {
            // set wp_nav's destination
            Location_Class dest(cmd.content.location);
            return guided_set_destination(dest);
        }

        case MAV_CMD_CONDITION_YAW:
            do_yaw(cmd);
            return true;

        default:
            // reject unrecognised command
            return false;
    }

    return true;
}

Exemplo n.º 2

Arquivo: commands_logic.cpp Projeto: 975526435/ardupilot

// do_guided - start guided mode
bool Copter::do_guided(const AP_Mission::Mission_Command& cmd)
{
    Vector3f pos_or_vel;    // target location or velocity

    // only process guided waypoint if we are in guided mode
    if (control_mode != GUIDED && !(control_mode == AUTO && auto_mode == Auto_NavGuided)) {
        return false;
    }

    // switch to handle different commands
    switch (cmd.id) {

        case MAV_CMD_NAV_WAYPOINT:
            // set wp_nav's destination
            pos_or_vel = pv_location_to_vector(cmd.content.location);
            guided_set_destination(pos_or_vel);
            return true;
            break;

        case MAV_CMD_CONDITION_YAW:
            do_yaw(cmd);
            return true;
            break;

        default:
            // reject unrecognised command
            return false;
            break;
    }

    return true;
}