Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ArduPlane: remove unused limit_length calculation in overshoot

This commit is contained in:
Mirko Denecke 2022-08-15 13:13:32 +02:00 committed by Andrew Tridgell
parent 6ab9e4a2b2
commit ba13f4d116
1 changed files with 0 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ArduPlane/quadplane.cpp
View File

@ -2577,9 +2577,6 @@ void QuadPlane::vtol_position_controller(void)
const float gnd_speed = plane.ahrs.groundspeed(); const float gnd_speed = plane.ahrs.groundspeed();
Vector2f target_speed_xy = landing_velocity + diff_wp_norm * gnd_speed - wind; Vector2f target_speed_xy = landing_velocity + diff_wp_norm * gnd_speed - wind;
target_yaw_deg = degrees(target_speed_xy.angle()); target_yaw_deg = degrees(target_speed_xy.angle());
// now limit speed to scaled wp speed, so we don't fly rapidly backwards
target_speed_xy.limit_length(scaled_wp_speed*100);
} }
} }
const float target_speed_ms = target_speed_xy_cms.length() * 0.01; const float target_speed_ms = target_speed_xy_cms.length() * 0.01;