From 2ac32ad2041aa948ea649c5a6bea4ca2268e510c Mon Sep 17 00:00:00 2001 From: Michael du Breuil Date: Fri, 17 Mar 2017 19:48:18 -0700 Subject: [PATCH] AP_Navigation: Add a loiter radius interface --- libraries/AP_Navigation/AP_Navigation.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/libraries/AP_Navigation/AP_Navigation.h b/libraries/AP_Navigation/AP_Navigation.h index bdc118e5e79bb..b0e9300bb32b6 100644 --- 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