Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_WPNav: Fix calculation of _scurve_jerk_time using radians.

Browse Source
This commit is contained in:
Leonard Hall 2021-09-06 17:19:27 +09:30 committed by Randy Mackay
parent 470cf82a53
commit 7852e9d1b0
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -873,9 +873,9 @@ void AC_WPNav::calc_scurve_jerk_and_jerk_time()
} }
// calculate jerk time // calculate jerk time
// jounce (the rate of change of jerk) uses the attitude control input time constant because multicopters // Jounce (the rate of change of jerk) uses the attitude control input time constant because multicopters
// lean to accelerate meaning the change in angle is equivalent to the change in acceleration // lean to accelerate. This means the change in angle is equivalent to the change in acceleration
const float jounce = MIN(_attitude_control.get_accel_roll_max() * GRAVITY_MSS, _attitude_control.get_accel_pitch_max() * GRAVITY_MSS); const float jounce = MIN(_attitude_control.get_accel_roll_max_radss() * GRAVITY_MSS, _attitude_control.get_accel_pitch_max_radss() * GRAVITY_MSS);
if (is_positive(jounce)) { if (is_positive(jounce)) {
_scurve_jerk_time = MAX(_attitude_control.get_input_tc(), 0.5f * _scurve_jerk * M_PI / jounce); _scurve_jerk_time = MAX(_attitude_control.get_input_tc(), 0.5f * _scurve_jerk * M_PI / jounce);
} else { } else {