From 55235630b6d96d475c8a355350bbff24e5204478 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sun, 12 May 2013 14:51:02 +0900 Subject: [PATCH] Copter: bug fix for slow loiter repositioning --- libraries/AC_WPNav/AC_WPNav.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp index 8a50c19d16..f8860f7542 100644 --- a/libraries/AC_WPNav/AC_WPNav.cpp +++ b/libraries/AC_WPNav/AC_WPNav.cpp @@ -168,7 +168,7 @@ void AC_WPNav::translate_loiter_target_movements(float nav_dt) // constrain the velocity vector and scale if necessary vel_delta_total = safe_sqrt(target_vel_adj.x*target_vel_adj.x + target_vel_adj.y*target_vel_adj.y); - vel_max = MAX_LOITER_POS_ACCEL*nav_dt; + vel_max = 2.0*MAX_LOITER_POS_ACCEL*nav_dt; if( vel_delta_total > vel_max) { target_vel_adj.x = vel_max * target_vel_adj.x/vel_delta_total; target_vel_adj.y = vel_max * target_vel_adj.y/vel_delta_total;