mirror of https://github.com/ArduPilot/ardupilot
Copter: set pos controller speeds before circle init
This ensures stopping point is calculated correctly
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@ -9,12 +9,16 @@ static bool circle_init(bool ignore_checks)
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{
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if ((GPS_ok() && inertial_nav.position_ok()) || ignore_checks) {
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circle_pilot_yaw_override = false;
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circle_nav.init();
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// initialize vertical speeds and leash lengths
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// initialize speeds and accelerations
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pos_control.set_speed_xy(wp_nav.get_speed_xy());
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pos_control.set_accel_xy(wp_nav.get_wp_acceleration());
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pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
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pos_control.set_accel_z(g.pilot_accel_z);
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// initialise circle controller including setting the circle center based on vehicle speed
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circle_nav.init();
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return true;
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}else{
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return false;
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