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AC_WPNav: AC_Loiter: Fix loiter level bug

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Leonard Hall 2022-09-01 14:52:15 +09:30 committed by Randy Mackay
parent 67fd2b6856
commit af54acd202
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_WPNav/AC_Loiter.cpp
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@ -118,8 +118,8 @@ void AC_Loiter::init_target()
_pos_control.set_correction_speed_accel_xy(LOITER_VEL_CORRECTION_MAX, _accel_cmss); _pos_control.set_correction_speed_accel_xy(LOITER_VEL_CORRECTION_MAX, _accel_cmss);
_pos_control.set_pos_error_max_xy_cm(LOITER_POS_CORRECTION_MAX); _pos_control.set_pos_error_max_xy_cm(LOITER_POS_CORRECTION_MAX);
// initialise position controller // initialise position controller and move target accelerations smoothly towards zero
_pos_control.init_xy_controller(); _pos_control.relax_velocity_controller_xy();
// initialise predicted acceleration and angles from the position controller // initialise predicted acceleration and angles from the position controller
_predicted_accel.x = _pos_control.get_accel_target_cmss().x; _predicted_accel.x = _pos_control.get_accel_target_cmss().x;