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AC_WPNav: Fix Angle Vel units on function

This commit is contained in:
Leonard Hall 2021-08-07 16:22:09 +09:30 committed by Randy Mackay
parent 0ee9dbc059
commit 8cd70f2569
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_WPNav/AC_WPNav.cpp
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@ -835,7 +835,7 @@ bool AC_WPNav::get_vector_NEU(const Location &loc, Vector3f &vec, bool &terrain_
void AC_WPNav::calc_scurve_jerk_and_jerk_time() void AC_WPNav::calc_scurve_jerk_and_jerk_time()
{ {
// calculate jerk // calculate jerk
_scurve_jerk = MIN(_attitude_control.get_ang_vel_roll_max_radss() * GRAVITY_MSS, _attitude_control.get_ang_vel_pitch_max_radss() * GRAVITY_MSS); _scurve_jerk = MIN(_attitude_control.get_ang_vel_roll_max_rads() * GRAVITY_MSS, _attitude_control.get_ang_vel_pitch_max_rads() * GRAVITY_MSS);
if (is_zero(_scurve_jerk)) { if (is_zero(_scurve_jerk)) {
_scurve_jerk = _wp_jerk; _scurve_jerk = _wp_jerk;
} else { } else {