AP_OABendyRuler: correct margin consider vehicle speed

2022-08-08 14:28:21 +08:00 · 2022-08-08 14:28:21 +08:00 · c387659374
parent d7d473d1f9
commit c387659374
1 changed files with 3 additions and 0 deletions
--- a/libraries/AC_Avoidance/AP_OABendyRuler.cpp
+++ b/libraries/AC_Avoidance/AP_OABendyRuler.cpp
@ -114,6 +114,9 @@ bool AP_OABendyRuler::update(const Location& current_loc, const Location& destin
        ground_course_deg = degrees(ground_speed_vec.angle());
    }

+    // consider self driving speed, planning frequency is 1Hz default
+    _margin_max += ground_speed_vec.length() * 1.0f;
+
    bool ret;
    switch (get_type()) {
        case OABendyType::OA_BENDY_VERTICAL: