From 79c9b4b52316c47a3f6c561e7fe3aa940c046100 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 20 Feb 2021 10:23:36 +0900 Subject: [PATCH] AC_WPNav: increase default speed to 10m/s and accel to 2.5m/s/s --- libraries/AC_WPNav/AC_WPNav.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h index a7c9b0350e..be69e6c498 100644 --- a/libraries/AC_WPNav/AC_WPNav.h +++ b/libraries/AC_WPNav/AC_WPNav.h @@ -11,10 +11,10 @@ #include // 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