From e20a050e37e7675e2150753ab80f8dbb4a0f7667 Mon Sep 17 00:00:00 2001 From: Tim Tuxworth Date: Sun, 2 Jun 2024 12:39:51 -0600 Subject: [PATCH] AP_Vehicle: add bindings to support Plane scripted follow --- libraries/AP_Vehicle/AP_Vehicle.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h index 8b22c9395d73d4..0697819478ab78 100644 --- a/libraries/AP_Vehicle/AP_Vehicle.h +++ b/libraries/AP_Vehicle/AP_Vehicle.h @@ -184,6 +184,7 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks { virtual bool set_target_velocity_NED(const Vector3f& vel_ned) { return false; } virtual bool set_target_velaccel_NED(const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) { return false; } virtual bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) { return false; } + virtual bool set_guided_radius_and_direction(float radius, bool direction_is_ccw) { return false; } // command throttle percentage and roll, pitch, yaw target // rates. For use with scripting controllers @@ -209,6 +210,9 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks { // set auto mode speed in meters/sec (for use by scripting with Copter/Rover) virtual bool set_desired_speed(float speed) { return false; } + // set auto mode airspeed in meters/sec (for use by scripting with Plane) + virtual bool set_desired_airspeed(float airspeed_new) { return false; } + // support for NAV_SCRIPT_TIME mission command virtual bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4) { return false; } virtual void nav_script_time_done(uint16_t id) {}