Copter: implement set_target_posvel_NED method for use in scripting

ArduCopter/Copter.cpp

@@ -296,6 +296,20 @@ bool Copter::set_target_location(const Location& target_loc)
     return mode_guided.set_destination(target_loc);
 }
 
+// set target position and velocity (for use by scripting)
+bool Copter::set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel)
+{
+    // exit if vehicle is not in Guided mode or Auto-Guided mode
+    if (!flightmode->in_guided_mode()) {
+        return false;
+    }
+
+    const Vector3f pos_neu_cm(target_pos.x * 100.0f, target_pos.y * 100.0f, -target_pos.z * 100.0f);
+    const Vector3f vel_neu_cms(target_vel.x * 100.0f, target_vel.y * 100.0f, -target_vel.z * 100.0f);
+
+    return mode_guided.set_destination_posvel(pos_neu_cm, vel_neu_cms);
+}
+
 bool Copter::set_target_velocity_NED(const Vector3f& vel_ned)
 {
     // exit if vehicle is not in Guided mode or Auto-Guided mode

ArduCopter/Copter.h

@@ -648,6 +648,7 @@ private:
     void fast_loop() override;
     bool start_takeoff(float alt) override;
     bool set_target_location(const Location& target_loc) override;
+    bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) override;
     bool set_target_velocity_NED(const Vector3f& vel_ned) override;
     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) override;
     void rc_loop();