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AP_OABendyRuler: correct margin consider vehicle speed

This commit is contained in:
xianglunkai 2022-08-08 14:28:21 +08:00
parent d7d473d1f9
commit c387659374
1 changed files with 3 additions and 0 deletions
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3
libraries/AC_Avoidance/AP_OABendyRuler.cpp
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@ -114,6 +114,9 @@ bool AP_OABendyRuler::update(const Location& current_loc, const Location& destin
ground_course_deg = degrees(ground_speed_vec.angle()); 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; bool ret;
switch (get_type()) { switch (get_type()) {
case OABendyType::OA_BENDY_VERTICAL: case OABendyType::OA_BENDY_VERTICAL: