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AC_Avoid: fix adjust_velocity_polygon 

adjust_velocity_polygon function ignoring boundary[0]
This commit is contained in:
JIMWAR 2018-07-02 10:37:43 +08:00 committed by Randy Mackay
parent a8485fbde5
commit 97b5af60f8
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_Avoidance/AC_Avoid.cpp
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@ -438,7 +438,7 @@ void AC_Avoid::adjust_velocity_polygon(float kP, float accel_cmss, Vector2f &des
Vector2f stopping_point = position_xy + safe_vel*((2.0f + get_stopping_distance(kP, accel_cmss, speed))/speed);
uint16_t i, j;
for (i = 1, j = num_points-1; i < num_points; j = i++) {
for (i = 0, j = num_points-1; i < num_points; j = i++) {
// end points of current edge
Vector2f start = boundary[j];
Vector2f end = boundary[i];