@ -74,6 +74,9 @@ public:
@@ -74,6 +74,9 @@ public:
// run background cleanup - should be run regularly from the IO thread
void run_background_cleanup ( ) ;
// returns true if pilot's yaw input should be used to adjust vehicle's heading
bool use_pilot_yaw ( void ) const ;
// parameter var table
static const struct AP_Param : : GroupInfo var_info [ ] ;
@ -94,6 +97,12 @@ private:
@@ -94,6 +97,12 @@ private:
SRTL_DEACTIVATED_PROGRAM_ERROR ,
} ;
// enum for SRTL_OPTIONS parameter
enum class Options : int32_t {
// bits 1 and 2 are still available, pilot yaw was mapped to bit 2 for symmetry with auto
IgnorePilotYaw = ( 1U < < 2 ) ,
} ;
// add point to end of path
bool add_point ( const Vector3f & point ) ;
@ -164,6 +173,7 @@ private:
@@ -164,6 +173,7 @@ private:
// parameters
AP_Float _accuracy ;
AP_Int16 _points_max ;
AP_Int32 _options ;
// SmartRTL State Variables
bool _active ; // true if SmartRTL is usable. may become unusable if the path becomes too long to keep in memory, and too convoluted to be cleaned up, SmartRTL will be permanently deactivated (for the remainder of the flight)