From 8610edb664ce2f538ca572299565731e246c4f7c Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Sun, 20 Jun 2021 17:47:49 +0930 Subject: [PATCH] AC_WPNav: AC_Loiter: Remove extra accel limit --- libraries/AC_WPNav/AC_Loiter.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AC_WPNav/AC_Loiter.cpp b/libraries/AC_WPNav/AC_Loiter.cpp index b05c229642..9337c545e8 100644 --- a/libraries/AC_WPNav/AC_Loiter.cpp +++ b/libraries/AC_WPNav/AC_Loiter.cpp @@ -91,7 +91,7 @@ void AC_Loiter::init_target(const Vector3f& position) sanity_check_params(); // initialise pos controller speed, acceleration - _pos_control.set_max_speed_accel_xy(LOITER_VEL_CORRECTION_MAX, _accel_cmss, _accel_cmss); + _pos_control.set_max_speed_accel_xy(LOITER_VEL_CORRECTION_MAX, _accel_cmss); // initialise position controller _pos_control.init_xy_controller_stopping_point(); @@ -111,7 +111,7 @@ void AC_Loiter::init_target() sanity_check_params(); // initialise position controller speed and acceleration - _pos_control.set_max_speed_accel_xy(LOITER_VEL_CORRECTION_MAX, _accel_cmss, _accel_cmss); + _pos_control.set_max_speed_accel_xy(LOITER_VEL_CORRECTION_MAX, _accel_cmss); // initialise position controller _pos_control.init_xy_controller(); @@ -190,7 +190,7 @@ float AC_Loiter::get_angle_max_cd() const void AC_Loiter::update(bool avoidance_on) { // initialise pos controller speed and acceleration - _pos_control.set_max_speed_accel_xy(LOITER_VEL_CORRECTION_MAX, _accel_cmss, _accel_cmss); + _pos_control.set_max_speed_accel_xy(LOITER_VEL_CORRECTION_MAX, _accel_cmss); calc_desired_velocity(_pos_control.get_dt(), avoidance_on); _pos_control.update_xy_controller(); @@ -223,7 +223,7 @@ void AC_Loiter::calc_desired_velocity(float nav_dt, bool avoidance_on) } // initialise pos controller speed, acceleration - _pos_control.set_max_speed_accel_xy(LOITER_VEL_CORRECTION_MAX, _accel_cmss, _accel_cmss); + _pos_control.set_max_speed_accel_xy(LOITER_VEL_CORRECTION_MAX, _accel_cmss); // get loiters desired velocity from the position controller where it is being stored. const Vector3f &desired_vel_3d = _pos_control.get_vel_desired_cms();