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AC_WPNav: minor format fix

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This commit is contained in:
Randy Mackay 2017-06-26 20:57:06 +09:00
parent 774e484869
commit bd2ba1565c
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_WPNav/AC_WPNav.cpp
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@ -262,12 +262,12 @@ void AC_WPNav::calc_loiter_desired_velocity(float nav_dt, float ekfGndSpdLimit)
// constrain and scale the desired acceleration
float des_accel_change_total = norm(des_accel_diff.x, des_accel_diff.y);
float accel_change_max = _loiter_jerk_max_cmsss * nav_dt;
if (_loiter_jerk_max_cmsss > 0.0f && des_accel_change_total > accel_change_max && des_accel_change_total > 0.0f) {
des_accel_diff.x = accel_change_max * des_accel_diff.x/des_accel_change_total;
des_accel_diff.y = accel_change_max * des_accel_diff.y/des_accel_change_total;
}
// adjust the desired acceleration
_loiter_desired_accel += des_accel_diff;