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AC_WPNav: access pos-controller's horizontal p object

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This commit is contained in:
Randy Mackay 2017-11-21 10:48:09 +09:00
parent 9c00eb3d5f
commit 368245017a
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_WPNav/AC_WPNav.cpp
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@ -302,7 +302,7 @@ void AC_WPNav::calc_loiter_desired_velocity(float nav_dt, float ekfGndSpdLimit)
// Limit the velocity to prevent fence violations // Limit the velocity to prevent fence violations
if (_avoid != nullptr) { if (_avoid != nullptr) {
_avoid->adjust_velocity(_pos_control.get_pos_xy_kP(), _loiter_accel_cmss, desired_vel, nav_dt); _avoid->adjust_velocity(_pos_control.get_pos_xy_p().kP(), _loiter_accel_cmss, desired_vel, nav_dt);
} }
// send adjusted feed forward velocity back to position controller // send adjusted feed forward velocity back to position controller
@ -631,7 +631,7 @@ bool AC_WPNav::advance_wp_target_along_track(float dt)
// calculate point at which velocity switches from linear to sqrt // calculate point at which velocity switches from linear to sqrt
float linear_velocity = _wp_speed_cms; float linear_velocity = _wp_speed_cms;
float kP = _pos_control.get_pos_xy_kP(); float kP = _pos_control.get_pos_xy_p().kP();
if (kP >= 0.0f) { // avoid divide by zero if (kP >= 0.0f) { // avoid divide by zero
linear_velocity = _track_accel/kP; linear_velocity = _track_accel/kP;
} }