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Copter: set pos controller speeds before circle init

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This ensures stopping point is calculated correctly
This commit is contained in:
Randy Mackay 2014-05-07 15:06:34 +09:00
parent 1cb297580f
commit 0af9d502d9
1 changed files with 6 additions and 2 deletions
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8
ArduCopter/control_circle.pde
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@ -9,12 +9,16 @@ static bool circle_init(bool ignore_checks)
{ {
if ((GPS_ok() && inertial_nav.position_ok()) || ignore_checks) { if ((GPS_ok() && inertial_nav.position_ok()) || ignore_checks) {
circle_pilot_yaw_override = false; circle_pilot_yaw_override = false;
circle_nav.init();
// initialize vertical speeds and leash lengths // initialize speeds and accelerations
pos_control.set_speed_xy(wp_nav.get_speed_xy());
pos_control.set_accel_xy(wp_nav.get_wp_acceleration());
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max); pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z); pos_control.set_accel_z(g.pilot_accel_z);
// initialise circle controller including setting the circle center based on vehicle speed
circle_nav.init();
return true; return true;
}else{ }else{
return false; return false;