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AR_WPNav: jerk time reduced to 0.1 sec

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This commit is contained in:
Randy Mackay 2022-01-10 09:20:39 +09:00
parent c6dffb990f
commit a1b9fe5097
1 changed files with 3 additions and 2 deletions
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5
libraries/AR_WPNav/AR_WPNav.cpp
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@ -30,6 +30,7 @@ extern const AP_HAL::HAL& hal;
#define AR_WPNAV_SPEED_UPDATE_MIN_MS 500 // max speed cannot be updated more than once in this many milliseconds
#define AR_WPNAV_RADIUS_DEFAULT 2.0f
#define AR_WPNAV_OVERSPEED_RATIO_MAX 5.0f // if _overspeed_enabled the vehicle may travel as quickly as 5x WP_SPEED
#define AR_WPNAV_JERK_TIME_SEC 0.1 // jerk time (the time taken for jerk to climb to its maximum) is hard-coded to 0.1
const AP_Param::GroupInfo AR_WPNav::var_info[] = {
@ -246,7 +247,7 @@ bool AR_WPNav::set_desired_location(const struct Location& destination, Location
_pos_control.get_speed_max(), // speed down (not used)
MIN(_pos_control.get_accel_max(), _pos_control.get_lat_accel_max()),
_pos_control.get_accel_max(), // vertical accel (not used)
1.0, // jerk time
AR_WPNAV_JERK_TIME_SEC, // jerk time
_pos_control.get_jerk_max());
}
@ -273,7 +274,7 @@ bool AR_WPNav::set_desired_location(const struct Location& destination, Location
_pos_control.get_speed_max(), // speed down (not used)
MIN(_pos_control.get_accel_max(), _pos_control.get_lat_accel_max()),
_pos_control.get_accel_max(), // vertical accel (not used)
1.0, // jerk time
AR_WPNAV_JERK_TIME_SEC, // jerk time
_pos_control.get_jerk_max());
// next destination provided so fast waypoint