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AC_WPNav: remove brake

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This commit is contained in:
Rishabh 2019-06-12 15:43:33 +09:00 committed by Randy Mackay
parent 00f6dc9b05
commit ce48b82500
2 changed files with 0 additions and 38 deletions
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29
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -96,35 +96,6 @@ AC_WPNav::AC_WPNav(const AP_InertialNav& inav, const AP_AHRS_View& ahrs, AC_PosC
}
/// init_brake_target - initializes stop position from current position and velocity
void AC_WPNav::init_brake_target(float accel_cmss)
{
const Vector3f& curr_vel = _inav.get_velocity();
Vector3f stopping_point;
// initialise position controller
_pos_control.set_desired_velocity_xy(0.0f,0.0f);
_pos_control.set_desired_accel_xy(0.0f,0.0f);
_pos_control.init_xy_controller();
// initialise pos controller speed and acceleration
_pos_control.set_max_speed_xy(curr_vel.length());
_pos_control.set_max_accel_xy(accel_cmss);
_pos_control.calc_leash_length_xy();
// set target position
_pos_control.get_stopping_point_xy(stopping_point);
_pos_control.set_xy_target(stopping_point.x, stopping_point.y);
}
// update_brake - run the stop controller - gets called at 400hz
void AC_WPNav::update_brake()
{
// send adjusted feed forward velocity back to position controller
_pos_control.set_desired_velocity_xy(0.0f, 0.0f);
_pos_control.update_xy_controller();
}
///
/// waypoint navigation
///

9
libraries/AC_WPNav/AC_WPNav.h
View File

@ -57,15 +57,6 @@ public:
// return true if range finder may be used for terrain following
bool rangefinder_used() const { return _rangefinder_use && _rangefinder_healthy; }
///
/// brake controller
///
/// init_brake_target - initialize's position and feed-forward velocity from current pos and velocity
void init_brake_target(float accel_cmss);
///
/// update_brake - run the brake controller - should be called at 400hz
void update_brake();
///
/// waypoint controller
///