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Rover: circle mode loses input shaping

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Randy Mackay 2023-06-29 16:52:59 +09:00 committed by Andrew Tridgell
parent dc9e1a2bc3
commit 12268609b1
1 changed files with 1 additions and 1 deletions
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2
Rover/mode_circle.cpp
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@ -177,7 +177,7 @@ void ModeCircle::update()
target.accel = Vector2f(sq(target.speed) / config.radius, 0); target.accel = Vector2f(sq(target.speed) / config.radius, 0);
target.accel.rotate(target.yaw_rad + radians(180)); target.accel.rotate(target.yaw_rad + radians(180));
g2.pos_control.input_pos_vel_accel_target(target.pos, target.vel, target.accel, rover.G_Dt); g2.pos_control.set_pos_vel_accel_target(target.pos, target.vel, target.accel);
g2.pos_control.update(rover.G_Dt); g2.pos_control.update(rover.G_Dt);
// get desired speed and turn rate from pos_control // get desired speed and turn rate from pos_control