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AC_WPNav: increase default speed to 10m/s and accel to 2.5m/s/s

This commit is contained in:
Randy Mackay 2021-02-20 10:23:36 +09:00
parent 64289d436a
commit 79c9b4b523
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_WPNav/AC_WPNav.h
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@ -11,10 +11,10 @@
#include <AC_Avoidance/AC_Avoid.h> // Stop at fence library
// maximum velocities and accelerations
#define WPNAV_ACCELERATION 100.0f // defines the default velocity vs distant curve. maximum acceleration in cm/s/s that position controller asks for from acceleration controller
#define WPNAV_ACCELERATION 250.0f // maximum horizontal acceleration in cm/s/s that wp navigation will request
#define WPNAV_ACCELERATION_MIN 50.0f // minimum acceleration in cm/s/s - used for sanity checking _wp_accel parameter
#define WPNAV_WP_SPEED 500.0f // default horizontal speed between waypoints in cm/s
#define WPNAV_WP_SPEED 1000.0f // default horizontal speed between waypoints in cm/s
#define WPNAV_WP_SPEED_MIN 20.0f // minimum horizontal speed between waypoints in cm/s
#define WPNAV_WP_TRACK_SPEED_MIN 50.0f // minimum speed along track of the target point the vehicle is chasing in cm/s (used as target slows down before reaching destination)
#define WPNAV_WP_RADIUS 200.0f // default waypoint radius in cm