From 92aebdc3a407c4adb770f410466732800ed7042d Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 28 Jan 2022 17:35:51 +0900 Subject: [PATCH] AP_Math: spline lateral scaler reduced to 0.5 Co-authored-by: Leonard Hall --- libraries/AP_Math/SplineCurve.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Math/SplineCurve.cpp b/libraries/AP_Math/SplineCurve.cpp index 617422ceb1..c3a0791366 100644 --- a/libraries/AP_Math/SplineCurve.cpp +++ b/libraries/AP_Math/SplineCurve.cpp @@ -26,7 +26,7 @@ extern const AP_HAL::HAL &hal; #define SPLINE_FACTOR 4.0f // defines shape of curves. larger numbers result in longer spline curves, lower numbers take a direct path #define TANGENTIAL_ACCEL_SCALER 0.5f // the proportion of the maximum accel that can be used for tangential acceleration (aka in the direction of travel along the track) -#define LATERAL_ACCEL_SCALER 1.0f // the proportion of the maximum accel that can be used for lateral acceleration (aka crosstrack acceleration) +#define LATERAL_ACCEL_SCALER 0.5f // the proportion of the maximum accel that can be used for lateral acceleration (aka crosstrack acceleration) // limit the maximum speed along the track to that which will achieve a cornering (aka lateral) acceleration of LATERAL_SPEED_SCALER * acceleration limit