Line data    Source code

       1             : /*
       2             :   external control library for plane
       3             :  */
       4             : 
       5             : 
       6             : #include "AP_ExternalControl_Plane.h"
       7             : #if AP_EXTERNAL_CONTROL_ENABLED
       8             : 
       9             : #include "Plane.h"
      10             : 
      11             : /*
      12             :   Sets the target global position for a loiter point.
      13             : */
      14           0 : bool AP_ExternalControl_Plane::set_global_position(const Location& loc)
      15             : {
      16             : 
      17             :     // set_target_location already checks if plane is ready for external control.
      18             :     // It doesn't check if flying or armed, just that it's in guided mode.
      19           0 :     return plane.set_target_location(loc);
      20             : }
      21             : 
      22             : /*
      23             :   Sets the target airspeed.
      24             : */
      25           0 : bool AP_ExternalControl_Plane::set_airspeed(const float airspeed)
      26             : {
      27             : #if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
      28             :     // The command is only valid in guided mode.
      29           0 :     if (plane.control_mode != &plane.mode_guided) {
      30           0 :         return false;
      31             :     }
      32             : 
      33             :     // Assume the user wanted maximum acceleration.
      34           0 :     const float acc_instant = 0.0;
      35           0 :     return plane.mode_guided.handle_change_airspeed(airspeed, acc_instant);
      36             : #else 
      37             :   return false;
      38             : #endif
      39             : }
      40             : 
      41             : #endif // AP_EXTERNAL_CONTROL_ENABLED