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AC_WPNav: AC_Loiter: Remove extra accel limit

This commit is contained in:
Leonard Hall 2021-06-20 17:47:49 +09:30 committed by Randy Mackay
parent d9529e1be3
commit 8610edb664
1 changed files with 4 additions and 4 deletions
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8
libraries/AC_WPNav/AC_Loiter.cpp
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@ -91,7 +91,7 @@ void AC_Loiter::init_target(const Vector3f& position)
sanity_check_params(); sanity_check_params();
// initialise pos controller speed, acceleration // 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 // initialise position controller
_pos_control.init_xy_controller_stopping_point(); _pos_control.init_xy_controller_stopping_point();
@ -111,7 +111,7 @@ void AC_Loiter::init_target()
sanity_check_params(); sanity_check_params();
// initialise position controller speed and acceleration // 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 // initialise position controller
_pos_control.init_xy_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) void AC_Loiter::update(bool avoidance_on)
{ {
// initialise pos controller speed and acceleration // 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); calc_desired_velocity(_pos_control.get_dt(), avoidance_on);
_pos_control.update_xy_controller(); _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 // 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. // get loiters desired velocity from the position controller where it is being stored.
const Vector3f &desired_vel_3d = _pos_control.get_vel_desired_cms(); const Vector3f &desired_vel_3d = _pos_control.get_vel_desired_cms();