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AC_WPNav: remove brake dependency on loiter

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This commit is contained in:
Randy Mackay 2018-03-28 11:08:19 +09:00
parent cc5ad7c004
commit 0ba22a1feb
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_WPNav/AC_WPNav.cpp
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@ -397,6 +397,7 @@ void AC_WPNav::init_brake_target(float accel_cmss)
Vector3f stopping_point;
// initialise position controller
_pos_control.set_desired_velocity_xy(0.0f,0.0f);
_pos_control.set_desired_accel_xy(0.0f,0.0f);
_pos_control.init_xy_controller();
@ -405,10 +406,9 @@ void AC_WPNav::init_brake_target(float accel_cmss)
_pos_control.set_accel_xy(accel_cmss);
_pos_control.calc_leash_length_xy();
_pos_control.get_stopping_point_xy(stopping_point);
// set target position
init_loiter_target(stopping_point);
_pos_control.get_stopping_point_xy(stopping_point);
_pos_control.set_xy_target(stopping_point.x, stopping_point.y);
}
// update_brake - run the stop controller - gets called at 400hz