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AC_WPNav: stop gradually in loiter

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Jonathan Challinger 2015-05-13 20:38:15 -07:00 committed by Randy Mackay
parent 411e75b917
commit 853f8bfaf4
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_WPNav/AC_WPNav.cpp
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@ -290,7 +290,7 @@ void AC_WPNav::calc_loiter_desired_velocity(float nav_dt, float ekfGndSpdLimit)
float drag_speed_delta = -_loiter_accel_cmss*nav_dt*desired_speed/gnd_speed_limit_cms;
if (_pilot_accel_fwd_cms == 0 && _pilot_accel_rgt_cms == 0) {
drag_speed_delta = min(drag_speed_delta,-_loiter_accel_min_cmss*nav_dt);
drag_speed_delta = min(drag_speed_delta,max(-_loiter_accel_min_cmss*nav_dt, -2.0f*desired_speed*nav_dt));
}
desired_speed = max(desired_speed+drag_speed_delta,0.0f);