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AC_Avoidance: reduce maximum acceleration to 1m/s/s

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This makes the vehicle slow very gently as it approaches the edge of the fence
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Randy Mackay 2016-06-20 17:40:20 +09:00
parent a7422153cb
commit a427768087
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_Avoidance/AC_Avoid.h
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@ -8,7 +8,7 @@
#include <AC_AttitudeControl/AC_AttitudeControl.h> // Attitude controller library for sqrt controller #include <AC_AttitudeControl/AC_AttitudeControl.h> // Attitude controller library for sqrt controller
#include <AC_Fence/AC_Fence.h> // Failsafe fence library #include <AC_Fence/AC_Fence.h> // Failsafe fence library
#define AC_AVOID_ACCEL_CMSS_MAX 250.0f // maximum acceleration/deceleration in cm/s/s used to avoid hitting fence #define AC_AVOID_ACCEL_CMSS_MAX 100.0f // maximum acceleration/deceleration in cm/s/s used to avoid hitting fence
// bit masks for enabled fence types. // bit masks for enabled fence types.
#define AC_AVOID_DISABLED 0 // avoidance disabled #define AC_AVOID_DISABLED 0 // avoidance disabled