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Copter: lengthen loiter stopping point

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This will make stops less aggressive when entering loiter at very high
speeds (more 7.5m/s)
This commit is contained in:
Randy Mackay 2013-05-22 17:35:20 +09:00
parent 400c1bd7b7
commit 46d65150af
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_WPNav/AC_WPNav.cpp
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@ -123,7 +123,7 @@ void AC_WPNav::get_stopping_point(const Vector3f& position, const Vector3f& velo
linear_distance = MAX_LOITER_POS_ACCEL/(2*kP*kP);
target_dist = linear_distance + (vel_total*vel_total)/(2*MAX_LOITER_POS_ACCEL);
}
target_dist = constrain_float(target_dist, 0, _loiter_leash);
target_dist = constrain_float(target_dist, 0, _loiter_leash*2.0);
target.x = position.x + (target_dist * velocity.x / vel_total);
target.y = position.y + (target_dist * velocity.y / vel_total);