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AC_WPNav: Support error input to kinematic shaper

This commit is contained in:
Leonard Hall 2021-12-05 15:25:15 +10:30 committed by Randy Mackay
parent 9017ac6723
commit 30ddc4e06c
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_WPNav/AC_WPNav.cpp
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@ -476,7 +476,7 @@ bool AC_WPNav::advance_wp_target_along_track(float dt)
float vel_time_scalar = 1.0; float vel_time_scalar = 1.0;
if (is_positive(_wp_desired_speed_xy_cms)) { if (is_positive(_wp_desired_speed_xy_cms)) {
update_vel_accel(_terrain_vel, _terrain_accel, dt, false); update_vel_accel(_terrain_vel, _terrain_accel, dt, 0.0, 0.0);
shape_vel_accel( _wp_desired_speed_xy_cms * offset_z_scaler, 0.0, shape_vel_accel( _wp_desired_speed_xy_cms * offset_z_scaler, 0.0,
_terrain_vel, _terrain_accel, _terrain_vel, _terrain_accel,
-_wp_accel_cmss, _wp_accel_cmss, _pos_control.get_shaping_jerk_xy_cmsss(), dt, true); -_wp_accel_cmss, _wp_accel_cmss, _pos_control.get_shaping_jerk_xy_cmsss(), dt, true);