3 #if MODE_SMARTRTL_ENABLED == ENABLED 78 float target_yaw_rate = 0.0f;
79 if (!
copter.failsafe.radio) {
82 if (!
is_zero(target_yaw_rate)) {
91 bool fast_waypoint =
true;
96 fast_waypoint =
false;
149 copter.g2.smart_rtl.update(
copter.position_ok(), should_save_position);
void get_stopping_point_xy(Vector3f &stopping_point) const
bool reached_wp_destination() const
void land_run(bool disarm_on_land)
void set_mode_to_default(bool rtl)
int32_t get_pitch() const
void get_stopping_point_z(Vector3f &stopping_point) const
void update_z_controller()
SmartRTLState smart_rtl_state
bool request_thorough_cleanup(ThoroughCleanupType clean_type=THOROUGH_CLEAN_DEFAULT)
uint32_t wp_distance() const override
AC_AttitudeControl_t *& attitude_control
float get_pilot_desired_yaw_rate(int16_t stick_angle)
void set_descent_target_alt(uint32_t alt)
bool set_wp_destination(const Location_Class &destination)
autopilot_yaw_mode mode() const
int32_t get_wp_bearing_to_destination() const
void set_mode(autopilot_yaw_mode new_mode)
int16_t get_control_in() const
bool is_zero(const T fVal1)
void set_fast_waypoint(bool fast)
uint16_t get_num_points() const
void pre_land_position_run()
float get_wp_distance_to_destination() const
bool set_wp_destination_NED(const Vector3f &destination_NED)
void wp_and_spline_init()
DESIRED_THROTTLE_UNLIMITED
AC_PosControl *& pos_control
int32_t wp_bearing() const override
bool pop_point(Vector3f &point)
AP_HAL_MAIN_CALLBACKS & copter
void cancel_request_for_thorough_cleanup()
RC_Channel *& channel_yaw
bool init(bool ignore_checks) override