Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AC_Avoidance/AP_OAPathPlanner.cpp
View File

@ -24,8 +24,8 @@
extern const AP_HAL::HAL &hal; extern const AP_HAL::HAL &hal;
// parameter defaults // parameter defaults
const float OA_LOOKAHEAD_DEFAULT = 50; const float OA_LOOKAHEAD_DEFAULT = 15;
const float OA_MARGIN_MAX_DEFAULT = 10; const float OA_MARGIN_MAX_DEFAULT = 5;
const int16_t OA_TIMEOUT_MS = 2000; // avoidance results over 2 seconds old are ignored const int16_t OA_TIMEOUT_MS = 2000; // avoidance results over 2 seconds old are ignored