Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-13 11:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_Avoid: fix adjust_velocity_polygon

Browse Source 
adjust_velocity_polygon function ignoring boundary[0]
This commit is contained in:
JIMWAR 2018-07-02 10:37:43 +08:00 committed by Randy Mackay
parent f4c4f061b8
commit bd353db8ab
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AC_Avoidance/AC_Avoid.cpp
View File

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