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45 lines
1.1 KiB
45 lines
1.1 KiB
/* |
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* AP_Navigator.cpp |
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* |
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* Created on: Apr 30, 2011 |
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* Author: jgoppert |
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*/ |
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#include "AP_Navigator.h" |
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#include "AP_MavlinkCommand.h" |
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namespace apo { |
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AP_Navigator::AP_Navigator(AP_Board * board) : |
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_board(board), _timeStamp(0), _roll(0), _rollRate(0), _pitch(0), |
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_pitchRate(0), _yaw(0), _yawRate(0), |
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_windSpeed(0), _windDirection(0), |
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_vN(0), _vE(0), _vD(0), _lat_degInt(0), |
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_lon_degInt(0), _alt_intM(0) { |
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} |
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float AP_Navigator::getPD() const { |
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return AP_MavlinkCommand::home.getPD(getAlt_intM()); |
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} |
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float AP_Navigator::getPE() const { |
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return AP_MavlinkCommand::home.getPE(getLat_degInt(), getLon_degInt()); |
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} |
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float AP_Navigator::getPN() const { |
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return AP_MavlinkCommand::home.getPN(getLat_degInt(), getLon_degInt()); |
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} |
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void AP_Navigator::setPD(float _pD) { |
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setAlt(AP_MavlinkCommand::home.getAlt(_pD)); |
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} |
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void AP_Navigator::setPE(float _pE) { |
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setLat(AP_MavlinkCommand::home.getLat(_pE)); |
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} |
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void AP_Navigator::setPN(float _pN) { |
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setLon(AP_MavlinkCommand::home.getLon(_pN)); |
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} |
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} // namespace apo |
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// vim:ts=4:sw=4:expandtab
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