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AC_WPNav: loiter uses pos_control.shift_pos_xy_target

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This commit is contained in:
Randy Mackay 2015-10-29 16:31:40 +09:00
parent 550ba478c9
commit 040ec481f4
1 changed files with 1 additions and 8 deletions
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9
libraries/AC_WPNav/AC_WPNav.cpp
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@ -171,15 +171,8 @@ void AC_WPNav::init_loiter_target(const Vector3f& position, bool reset_I)
/// used by precision landing to adjust horizontal position target
void AC_WPNav::shift_loiter_target(const Vector3f &pos_adjustment)
{
Vector3f new_target = _pos_control.get_pos_target() + pos_adjustment;
// move pos controller target
_pos_control.set_xy_target(new_target.x, new_target.y);
// disable feed forward
if (fabsf(pos_adjustment.x) > 0.0f || fabsf(pos_adjustment.y) > 0.0f) {
_pos_control.freeze_ff_xy();
}
_pos_control.shift_pos_xy_target(pos_adjustment.x, pos_adjustment.y);
}
/// init_loiter_target - initialize's loiter position and feed-forward velocity from current pos and velocity