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Rover: guided heading-and-speed control slows using yaw error

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This commit is contained in:
Randy Mackay 2018-07-07 16:38:16 +09:00
parent 5dc4b8e66d
commit 82aba6fe56
1 changed files with 1 additions and 1 deletions
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2
APMrover2/mode_guided.cpp
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@ -47,7 +47,7 @@ void ModeGuided::update()
if (have_attitude_target) { if (have_attitude_target) {
// run steering and throttle controllers // run steering and throttle controllers
calc_steering_to_heading(_desired_yaw_cd, _desired_speed < 0); calc_steering_to_heading(_desired_yaw_cd, _desired_speed < 0);
calc_throttle(_desired_speed, true, true); calc_throttle(calc_reduced_speed_for_turn_or_distance(_desired_speed), true, true);
} else { } else {
stop_vehicle(); stop_vehicle();
} }