Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_Circle: Cope with AC_PosControl renaming

Browse Source
This commit is contained in:
Michael du Breuil 2018-09-20 12:40:41 -07:00 committed by WickedShell
parent d3bee76f0b
commit 65641c3cb7
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AC_WPNav/AC_Circle.cpp
View File

@ -210,14 +210,14 @@ void AC_Circle::calc_velocities(bool init_velocity)
_angular_accel = MAX(fabsf(_angular_vel_max),ToRad(AC_CIRCLE_ANGULAR_ACCEL_MIN)); // reach maximum yaw velocity in 1 second _angular_accel = MAX(fabsf(_angular_vel_max),ToRad(AC_CIRCLE_ANGULAR_ACCEL_MIN)); // reach maximum yaw velocity in 1 second
}else{ }else{
// calculate max velocity based on waypoint speed ensuring we do not use more than half our max acceleration for accelerating towards the center of the circle // calculate max velocity based on waypoint speed ensuring we do not use more than half our max acceleration for accelerating towards the center of the circle
float velocity_max = MIN(_pos_control.get_speed_xy(), safe_sqrt(0.5f*_pos_control.get_accel_xy()*_radius)); float velocity_max = MIN(_pos_control.get_max_speed_xy(), safe_sqrt(0.5f*_pos_control.get_max_accel_xy()*_radius));
// angular_velocity in radians per second // angular_velocity in radians per second
_angular_vel_max = velocity_max/_radius; _angular_vel_max = velocity_max/_radius;
_angular_vel_max = constrain_float(ToRad(_rate),-_angular_vel_max,_angular_vel_max); _angular_vel_max = constrain_float(ToRad(_rate),-_angular_vel_max,_angular_vel_max);
// angular_velocity in radians per second // angular_velocity in radians per second
_angular_accel = MAX(_pos_control.get_accel_xy()/_radius, ToRad(AC_CIRCLE_ANGULAR_ACCEL_MIN)); _angular_accel = MAX(_pos_control.get_max_accel_xy()/_radius, ToRad(AC_CIRCLE_ANGULAR_ACCEL_MIN));
} }
// initialise angular velocity // initialise angular velocity