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AC_WPNav: init_loiter_target always resets I term 

This was only used by poshold and this has been removed as part of "new-loiter"
This commit is contained in:
Randy Mackay 2018-02-06 15:23:32 +09:00
parent 1035645f5c
commit 92b56c2c89
2 changed files with 2 additions and 3 deletions
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2
libraries/AC_WPNav/AC_WPNav.cpp
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@ -170,7 +170,7 @@ AC_WPNav::AC_WPNav(const AP_InertialNav& inav, const AP_AHRS_View& ahrs, AC_PosC
///
/// init_loiter_target in cm from home
void AC_WPNav::init_loiter_target(const Vector3f& position, bool reset_I)
void AC_WPNav::init_loiter_target(const Vector3f& position)
{
// initialise pos controller speed, acceleration
_pos_control.set_speed_xy(WPNAV_LOITER_VEL_CORRECTION_MAX);

3
libraries/AC_WPNav/AC_WPNav.h
View File

@ -73,8 +73,7 @@ public:
///
/// init_loiter_target to a position in cm from ekf origin
/// caller can set reset_I to false to preserve I term since previous time loiter controller ran. Should only be false when caller is sure that not too much time has passed to invalidate the I terms
void init_loiter_target(const Vector3f& position, bool reset_I=true);
void init_loiter_target(const Vector3f& position);
/// init_loiter_target - initialize's loiter position and feed-forward velocity from current pos and velocity
void init_loiter_target();