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Copter: remove setting of pos-con jerk

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This commit is contained in:
Randy Mackay 2017-11-17 14:10:54 +09:00
parent 7511781a7e
commit 853d7ab573
2 changed files with 1 additions and 4 deletions
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1
ArduCopter/mode_circle.cpp
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@ -15,7 +15,6 @@ bool Copter::ModeCircle::init(bool ignore_checks)
// initialize speeds and accelerations
pos_control->set_speed_xy(wp_nav->get_speed_xy());
pos_control->set_accel_xy(wp_nav->get_wp_acceleration());
pos_control->set_jerk_xy_to_default();
pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control->set_accel_z(g.pilot_accel_z);

4
ArduCopter/mode_guided.cpp
View File

@ -104,10 +104,9 @@ void Copter::ModeGuided::vel_control_start()
// set guided_mode to velocity controller
guided_mode = Guided_Velocity;
// initialise horizontal speed, acceleration and jerk
// initialise horizontal speed, acceleration
pos_control->set_speed_xy(wp_nav->get_speed_xy());
pos_control->set_accel_xy(wp_nav->get_wp_acceleration());
pos_control->set_jerk_xy_to_default();
// initialize vertical speeds and acceleration
pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
@ -128,7 +127,6 @@ void Copter::ModeGuided::posvel_control_start()
// set speed and acceleration from wpnav's speed and acceleration
pos_control->set_speed_xy(wp_nav->get_speed_xy());
pos_control->set_accel_xy(wp_nav->get_wp_acceleration());
pos_control->set_jerk_xy_to_default();
const Vector3f& curr_pos = inertial_nav.get_position();
const Vector3f& curr_vel = inertial_nav.get_velocity();