Terrain Avoidance: for testing

timtuxworth · Jun 6, 2024 · 7e53a41 · 7e53a41
1 parent e27dea7
commit 7e53a41
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Showing 6 changed files with 1,319 additions and 1,248 deletions.
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -963,6 +963,13 @@ bool Plane::flight_option_enabled(FlightOptions flight_option) const
     return g2.flight_options & flight_option;
 }
 
+// Implements the virtual function from AP_Vehicle. Should probabl be set_desired_airspeed()
+bool Plane::set_desired_airspeed(float airspeed_new)
+{
+    plane.new_airspeed_cm = constrain_float(airspeed_new, aparm.airspeed_min, aparm.airspeed_max) * 100.0f;
+    return true;
+}
+
 #if AC_PRECLAND_ENABLED
 void Plane::precland_update(void)
 {

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -1045,6 +1045,7 @@ class Plane : public AP_Vehicle {
     void update_flight_stage();
     void set_flight_stage(AP_FixedWing::FlightStage fs);
     bool flight_option_enabled(FlightOptions flight_option) const;
+    bool set_desired_airspeed(float airspeed_new) override;
 
     // navigation.cpp
     void loiter_angle_reset(void);