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AP_Math: spline lateral scaler reduced to 0.5

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Co-authored-by: Leonard Hall <leonardthall@gmail.com>
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Randy Mackay 2022-01-28 17:35:51 +09:00 committed by Andrew Tridgell
parent e090bcfd6b
commit 92aebdc3a4
1 changed files with 1 additions and 1 deletions
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libraries/AP_Math/SplineCurve.cpp
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@ -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