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AC_Circle: init resets desired velocity_xy

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Leonard Hall 2017-07-13 20:45:45 +09:00 committed by Randy Mackay
parent d104e3a3c0
commit a356cfa529
1 changed files with 4 additions and 0 deletions
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4
libraries/AC_WPNav/AC_Circle.cpp
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@ -54,6 +54,8 @@ void AC_Circle::init(const Vector3f& center)
_center = center; _center = center;
// initialise position controller (sets target roll angle, pitch angle and I terms based on vehicle current lean angles) // initialise position controller (sets target roll angle, pitch angle and I terms based on vehicle current lean angles)
_pos_control.set_desired_accel_xy(0.0f,0.0f);
_pos_control.set_desired_velocity_xy(0.0f,0.0f);
_pos_control.init_xy_controller(); _pos_control.init_xy_controller();
// set initial position target to reasonable stopping point // set initial position target to reasonable stopping point
@ -72,6 +74,8 @@ void AC_Circle::init(const Vector3f& center)
void AC_Circle::init() void AC_Circle::init()
{ {
// initialise position controller (sets target roll angle, pitch angle and I terms based on vehicle current lean angles) // initialise position controller (sets target roll angle, pitch angle and I terms based on vehicle current lean angles)
_pos_control.set_desired_accel_xy(0.0f,0.0f);
_pos_control.set_desired_velocity_xy(0.0f,0.0f);
_pos_control.init_xy_controller(); _pos_control.init_xy_controller();
// set initial position target to reasonable stopping point // set initial position target to reasonable stopping point