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Plane: fixed a bug in POSITION1 speed thresholds (for plane 4.1)

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we were comparing two different speeds in the threshold for going to
Q_WP_SPEED limit. The reason the two speeds were different was the
wp_nav init happened before the defaults were setup for quadplanes

this fixes both bugs
This commit is contained in:
Andrew Tridgell 2021-11-06 09:53:25 +11:00 committed by Randy Mackay
parent a7973b3e7a
commit 1a33ca3ebe
1 changed files with 4 additions and 2 deletions
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6
ArduPlane/quadplane.cpp
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@ -814,7 +814,6 @@ bool QuadPlane::setup(void)
motors->set_update_rate(rc_speed); motors->set_update_rate(rc_speed);
motors->set_interlock(true); motors->set_interlock(true);
attitude_control->parameter_sanity_check(); attitude_control->parameter_sanity_check();
wp_nav->wp_and_spline_init();
// TODO: update this if servo function assignments change // TODO: update this if servo function assignments change
// used by relax_attitude_control() to control special behavior for vectored tailsitters // used by relax_attitude_control() to control special behavior for vectored tailsitters
@ -859,6 +858,9 @@ bool QuadPlane::setup(void)
tailsitter.transition_rate_fw.set_and_save(tailsitter.transition_angle_fw / (transition_time_ms/2000.0f)); tailsitter.transition_rate_fw.set_and_save(tailsitter.transition_angle_fw / (transition_time_ms/2000.0f));
} }
// init wp_nav variables after detaults are setup
wp_nav->wp_and_spline_init();
// param count will have changed // param count will have changed
AP_Param::invalidate_count(); AP_Param::invalidate_count();
@ -2832,7 +2834,7 @@ void QuadPlane::vtol_position_controller(void)
float target_speed = stopping_speed; float target_speed = stopping_speed;
// maximum configured VTOL speed // maximum configured VTOL speed
const float wp_speed = pos_control->get_max_speed_xy_cms() * 0.01; const float wp_speed = wp_nav->get_default_speed_xy() * 0.01;
const float current_speed_sq = plane.ahrs.groundspeed_vector().length_squared(); const float current_speed_sq = plane.ahrs.groundspeed_vector().length_squared();
const float scaled_wp_speed = get_scaled_wp_speed(degrees(diff_wp.angle())); const float scaled_wp_speed = get_scaled_wp_speed(degrees(diff_wp.angle()));