mirror of https://github.com/ArduPilot/ardupilot
Rover: use WP_SPEED instead of CRUISE_SPEED to set loiter's maximum speed
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@ -30,7 +30,7 @@ void ModeLoiter::update()
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} else {
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} else {
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// P controller with hard-coded gain to convert distance to desired speed
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// P controller with hard-coded gain to convert distance to desired speed
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// To-Do: make gain configurable or calculate from attitude controller's maximum accelearation
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// To-Do: make gain configurable or calculate from attitude controller's maximum accelearation
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_desired_speed = MIN((_distance_to_destination - g2.loit_radius) * 0.5f, g.speed_cruise);
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_desired_speed = MIN((_distance_to_destination - g2.loit_radius) * 0.5f, g2.wp_nav.get_default_speed());
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// calculate bearing to destination
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// calculate bearing to destination
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_desired_yaw_cd = rover.current_loc.get_bearing_to(_destination);
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_desired_yaw_cd = rover.current_loc.get_bearing_to(_destination);
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