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AC_WPNav: Adapt to 3-D Avoidance changes

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Rishabh 2021-01-27 21:52:24 +05:30 committed by Randy Mackay
parent f3d825bebe
commit 401d365491
1 changed files with 3 additions and 1 deletions
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4
libraries/AC_WPNav/AC_Loiter.cpp
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@ -307,7 +307,9 @@ void AC_Loiter::calc_desired_velocity(float nav_dt)
// TODO: We need to also limit the _desired_accel // TODO: We need to also limit the _desired_accel
AC_Avoid *_avoid = AP::ac_avoid(); AC_Avoid *_avoid = AP::ac_avoid();
if (_avoid != nullptr) { if (_avoid != nullptr) {
_avoid->adjust_velocity(_pos_control.get_pos_xy_p().kP(), _accel_cmss, desired_vel, nav_dt); Vector3f avoidance_vel_3d{desired_vel.x, desired_vel.y, 0.0f};
_avoid->adjust_velocity(avoidance_vel_3d, _pos_control.get_pos_xy_p().kP(), _accel_cmss, _pos_control.get_pos_z_p().kP(), _pos_control.get_max_accel_z(), nav_dt);
desired_vel = Vector2f{avoidance_vel_3d.x, avoidance_vel_3d.y};
} }
// send adjusted feed forward acceleration and velocity back to the Position Controller // send adjusted feed forward acceleration and velocity back to the Position Controller