Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen
Diff: Autopilot.cpp
- Revision:
- 2:049e057f4625
- Parent:
- 1:73704460a8b4
- Child:
- 3:46d4a32011fc
diff -r 73704460a8b4 -r 049e057f4625 Autopilot.cpp --- a/Autopilot.cpp Fri Nov 12 09:03:10 2021 +0000 +++ b/Autopilot.cpp Fri Nov 12 12:16:38 2021 +0000 @@ -34,10 +34,10 @@ float yaw_center = std::atan2(y_dist, x_dist); float yaw_dif = angdif_pi(yaw_center - yaw); //旋回中心までの方位角, rad float dist = std::sqrt(x_dist*x_dist + y_dist*y_dist); //旋回中心までの距離 - //旋回円から遠い場合は旋回中心まで誘導 if (dist > 2*turn_r) { + set_dest(turn_center.x, turn_center.y); guide(); } else @@ -69,14 +69,12 @@ this->turn_r = r; } -std::vector<float> Autopilot::return_val() +void Autopilot::return_val(float &r_obj, float &p_obj, float &a_obj) { limit_obj(); - std::vector<float> obj; - obj[0] = roll_obj; - obj[1] = pitch_obj; - obj[2] = alt_obj; - return obj; + r_obj = this->roll_obj; + p_obj = this->pitch_obj; + a_obj = this->alt_obj; } void Autopilot::limit_obj()