Method get_delta_angle

libraries/AP_WheelEncoder/AP_WheelEncoder.cpp:278–289

get total delta angle (in radians) measured by the wheel encoder

// get total delta angle (in radians) measured by the wheel encoder
float AP_WheelEncoder::get_delta_angle(uint8_t instance) const
{
    // for invalid instances return zero
    if (instance >= WHEELENCODER_MAX_INSTANCES) {
        return 0.0f;
    }
    // protect against divide by zero
    if (_counts_per_revolution[instance] == 0) {
        return 0.0f;
    }
    return M_2PI * state[instance].distance_count / _counts_per_revolution[instance];
}

// get the total distance traveled in meters
float AP_WheelEncoder::get_distance(uint8_t instance) const