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Rover: fix overshoot beyond stopping dist in dock mode

This commit is contained in:
Shiv Tyagi 2022-09-03 18:18:49 +05:30 committed by Peter Barker
parent 1a46a27bb8
commit 8bdc85f9c6
1 changed files with 3 additions and 0 deletions
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3
Rover/mode_dock.cpp
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@ -227,6 +227,9 @@ float ModeDock::apply_slowdown(float desired_speed)
desired_speed = MAX(dock_speed_slowdown_lmt, fabsf(desired_speed) * (1 - error_ratio * slowdown_weight));
// restrict speed to avoid going beyond stopping distance
desired_speed = MIN(desired_speed, safe_sqrt(2 * fabsf(_distance_to_destination - stopping_dist) * g2.pos_control.get_accel_max()));
// we worked on absolute value of speed before
// make it negative again if reversed
if (g2.pos_control.get_reversed()) {