Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-11 17:13:56 -03:00
Code Issues Packages Projects Releases Wiki Activity

Copter: Consolidate processing

Browse Source
This commit is contained in:
muramura 2024-10-05 11:06:54 +09:00 committed by Randy Mackay
parent 47342db416
commit 8a5556cb4e
1 changed files with 1 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/mode_poshold.cpp
View File

@ -535,11 +535,7 @@ void ModePosHold::update_brake_angle_from_velocity(float &brake_angle, float vel
}
// calculate velocity-only based lean angle
if (velocity >= 0) {
lean_angle = -brake.gain * velocity * (1.0f + 500.0f / (velocity + 60.0f));
} else {
lean_angle = -brake.gain * velocity * (1.0f + 500.0f / (-velocity + 60.0f));
}
lean_angle = -brake.gain * velocity * (1.0f + 500.0f / (fabsf(velocity) + 60.0f));
// do not let lean_angle be too far from brake_angle
brake_angle = constrain_float(lean_angle, brake_angle - brake_rate, brake_angle + brake_rate);