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AR_PosControl: integrate avoidance with proximity only

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This commit is contained in:
Randy Mackay 2024-03-11 12:17:23 +09:00
parent 9c46128b3d
commit c6d6d57363
1 changed files with 1 additions and 1 deletions
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2
libraries/APM_Control/AR_PosControl.cpp
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@ -159,7 +159,7 @@ void AR_PosControl::update(float dt)
if (avoid != nullptr) {
Vector3f vel_3d_cms{_vel_target.x * 100.0f, _vel_target.y * 100.0f, 0.0f};
const float accel_max_cmss = MIN(_accel_max, _lat_accel_max) * 100.0;
avoid->adjust_velocity(vel_3d_cms, backing_up, _p_pos.kP(), accel_max_cmss, _p_pos.kP(), accel_max_cmss, dt);
avoid->adjust_velocity(vel_3d_cms, backing_up, _p_pos.kP(), accel_max_cmss, _p_pos.kP(), accel_max_cmss, dt, false);
_vel_target.x = vel_3d_cms.x * 0.01;
_vel_target.y = vel_3d_cms.y * 0.01;
}