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Copter: set jerk to default for circle and guided

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This commit is contained in:
Randy Mackay 2015-10-29 11:47:46 +09:00
parent 49c4a133d7
commit 606a0e0d0b
2 changed files with 2 additions and 0 deletions
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1
ArduCopter/control_circle.cpp
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@ -15,6 +15,7 @@ bool Copter::circle_init(bool ignore_checks)
// initialize speeds and accelerations
pos_control.set_speed_xy(wp_nav.get_speed_xy());
pos_control.set_accel_xy(wp_nav.get_wp_acceleration());
pos_control.set_jerk_xy_to_default();
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);

1
ArduCopter/control_guided.cpp
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@ -113,6 +113,7 @@ void Copter::guided_posvel_control_start()
// set speed and acceleration from wpnav's speed and acceleration
pos_control.set_speed_xy(wp_nav.get_speed_xy());
pos_control.set_accel_xy(wp_nav.get_wp_acceleration());
pos_control.set_jerk_xy_to_default();
const Vector3f& curr_pos = inertial_nav.get_position();
const Vector3f& curr_vel = inertial_nav.get_velocity();