mirror of https://github.com/ArduPilot/ardupilot
AC_Avoid: fix adjust_velocity_polygon
adjust_velocity_polygon function ignoring boundary[0]
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@ -438,7 +438,7 @@ void AC_Avoid::adjust_velocity_polygon(float kP, float accel_cmss, Vector2f &des
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Vector2f stopping_point = position_xy + safe_vel*((2.0f + get_stopping_distance(kP, accel_cmss, speed))/speed);
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uint16_t i, j;
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for (i = 1, j = num_points-1; i < num_points; j = i++) {
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for (i = 0, j = num_points-1; i < num_points; j = i++) {
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// end points of current edge
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Vector2f start = boundary[j];
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Vector2f end = boundary[i];
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