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AC_WPNav: ACCEL_C defaults to 2x ACCEL

This commit is contained in:
Randy Mackay 2024-01-08 15:19:34 +09:00
parent 3a37796eb2
commit 0cf616044c
2 changed files with 3 additions and 3 deletions
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2
libraries/AC_WPNav/AC_WPNav.cpp
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@ -94,7 +94,7 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] = {
// @Param: ACCEL_C
// @DisplayName: Waypoint Cornering Acceleration
// @Description: Defines the maximum cornering acceleration in cm/s/s used during missions, zero uses max lean angle.
// @Description: Defines the maximum cornering acceleration in cm/s/s used during missions. If zero uses 2x accel value.
// @Units: cm/s/s
// @Range: 0 500
// @Increment: 10

4
libraries/AC_WPNav/AC_WPNav.h
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@ -87,8 +87,8 @@ public:
/// get_wp_acceleration - returns acceleration in cm/s/s during missions
float get_wp_acceleration() const { return (is_positive(_wp_accel_cmss)) ? _wp_accel_cmss : WPNAV_ACCELERATION; }
/// get_wp_acceleration - returns acceleration in cm/s/s during missions
float get_corner_acceleration() const { return (is_positive(_wp_accel_c_cmss)) ? _wp_accel_c_cmss : get_wp_acceleration(); }
/// get_corner_acceleration - returns maximum acceleration in cm/s/s used during cornering in missions
float get_corner_acceleration() const { return (is_positive(_wp_accel_c_cmss)) ? _wp_accel_c_cmss : 2.0 * get_wp_acceleration(); }
/// get_wp_destination waypoint using position vector
/// x,y are distance from ekf origin in cm