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AC_PosControl: fix bug related to ekfNavVelGainScaler

This commit is contained in:
Jonathan Challinger 2016-10-10 16:45:05 -07:00 committed by Randy Mackay
parent ae53920e5b
commit 77dbf99cee
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -826,8 +826,8 @@ void AC_PosControl::pos_to_rate_xy(xy_mode mode, float dt, float ekfNavVelGainSc
_vel_target.y = vel_sqrt * _pos_error.y/_distance_to_target; _vel_target.y = vel_sqrt * _pos_error.y/_distance_to_target;
}else{ }else{
// velocity response grows linearly with the distance // velocity response grows linearly with the distance
_vel_target.x = _p_pos_xy.kP() * _pos_error.x; _vel_target.x = kP * _pos_error.x;
_vel_target.y = _p_pos_xy.kP() * _pos_error.y; _vel_target.y = kP * _pos_error.y;
} }
if (mode == XY_MODE_POS_LIMITED_AND_VEL_FF) { if (mode == XY_MODE_POS_LIMITED_AND_VEL_FF) {