AP_Navigation: Add a loiter radius interface

Yukong · Apr 5, 2017 · 2ac32ad · 2ac32ad
1 parent 336b4a6
commit 2ac32ad
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/libraries/AP_Navigation/AP_Navigation.h b/libraries/AP_Navigation/AP_Navigation.h
@@ -56,6 +56,10 @@ class AP_Navigation {
     // mission when approaching a waypoint
     virtual float turn_distance(float wp_radius, float turn_angle) const = 0;
 
+    // return the target loiter radius for the current location that
+    // will not cause excessive airframe loading
+    virtual float loiter_radius(const float radius) const = 0;
+
     // update the internal state of the navigation controller, given
     // the previous and next waypoints. This is the step function for
     // navigation control for path following between two points.  This