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AC_Avoidance: reduce OA path planner look ahead and margin param defaults

This commit is contained in:
Randy Mackay 2019-08-09 13:44:30 +09:00
parent a5ec64fc99
commit a1a2733926
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_Avoidance/AP_OAPathPlanner.cpp
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@ -24,8 +24,8 @@
extern const AP_HAL::HAL &hal;
// parameter defaults
const float OA_LOOKAHEAD_DEFAULT = 50;
const float OA_MARGIN_MAX_DEFAULT = 10;
const float OA_LOOKAHEAD_DEFAULT = 15;
const float OA_MARGIN_MAX_DEFAULT = 5;
const int16_t OA_TIMEOUT_MS = 2000; // avoidance results over 2 seconds old are ignored