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Rover: loiter slows using attitude control get_desired_speed_accel_limit

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This commit is contained in:
Randy Mackay 2018-05-23 17:29:17 +09:00
parent fc35e74821
commit 51a0cbc1da
1 changed files with 1 additions and 5 deletions
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6
APMrover2/mode_loiter.cpp
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@ -28,11 +28,7 @@ void ModeLoiter::update()
// if within waypoint radius slew desired speed towards zero and use existing desired heading
if (_distance_to_destination <= g.waypoint_radius) {
if (is_negative(_desired_speed)) {
_desired_speed = MIN(_desired_speed + attitude_control.get_decel_max() * rover.G_Dt, 0.0f);
} else {
_desired_speed = MAX(_desired_speed - attitude_control.get_decel_max() * rover.G_Dt, 0.0f);
}
_desired_speed = attitude_control.get_desired_speed_accel_limited(0.0f, rover.G_Dt);
_yaw_error_cd = 0.0f;
} else {
// P controller with hard-coded gain to convert distance to desired speed