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AP_L1_Control: set min groundspeed to 0.1

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this works better for slow rovers
This commit is contained in:
Andrew Tridgell 2013-08-14 14:57:23 +10:00
parent c6e37aaec3
commit 144516c941
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_L1_Control/AP_L1_Control.cpp
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@ -111,11 +111,11 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
//Calculate groundspeed //Calculate groundspeed
float groundSpeed = _groundspeed_vector.length(); float groundSpeed = _groundspeed_vector.length();
if (groundSpeed < 1.0f) { if (groundSpeed < 0.1f) {
// use a small ground speed vector in the right direction, // use a small ground speed vector in the right direction,
// allowing us to use the compass heading at zero GPS velocity // allowing us to use the compass heading at zero GPS velocity
_groundspeed_vector = Vector2f(cosf(_ahrs.yaw), sinf(_ahrs.yaw)); groundSpeed = 0.1f;
groundSpeed = 1.0f; _groundspeed_vector = Vector2f(cosf(_ahrs.yaw), sinf(_ahrs.yaw)) * groundSpeed;
} }
// Calculate time varying control parameters // Calculate time varying control parameters