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AC_WPNav: resolve twitch when passing spline waypoints

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The target positions target velocity was being reset to zero as we
passed through a spline waypoint.
This commit is contained in:
Randy Mackay 2014-08-27 18:13:59 +09:00
parent e836d1aa2b
commit 1c6606cc58
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_WPNav/AC_WPNav.cpp
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@ -695,7 +695,7 @@ void AC_WPNav::set_spline_origin_and_destination(const Vector3f& origin, const V
// before beginning it's spline path to the next waypoint. Note: we are using the previous segment's origin and destination // before beginning it's spline path to the next waypoint. Note: we are using the previous segment's origin and destination
_spline_origin_vel = (_destination - _origin); _spline_origin_vel = (_destination - _origin);
_spline_time = 0.0f; // To-Do: this should be set based on how much overrun there was from straight segment? _spline_time = 0.0f; // To-Do: this should be set based on how much overrun there was from straight segment?
_spline_vel_scaler = 0.0f; // To-Do: this should be set based on speed at end of prev straight segment? _spline_vel_scaler = _pos_control.get_vel_target().length(); // start velocity target from current target velocity
}else{ }else{
// previous segment is splined, vehicle will fly through origin // previous segment is splined, vehicle will fly through origin
// we can use the previous segment's destination velocity as this segment's origin velocity // we can use the previous segment's destination velocity as this segment's origin velocity
@ -707,7 +707,7 @@ void AC_WPNav::set_spline_origin_and_destination(const Vector3f& origin, const V
}else{ }else{
_spline_time = 0.0f; _spline_time = 0.0f;
} }
_spline_vel_scaler = 0.0f; // Note: we leave _spline_vel_scaler as it was from end of previous segment
} }
} }