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AC_Loiter: init brake_accel and fix brake timer type

This commit is contained in:
Randy Mackay 2021-06-09 13:07:02 +09:00 committed by Andrew Tridgell
parent 7335e4640f
commit dbc9b0c2f9
2 changed files with 4 additions and 2 deletions
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2
libraries/AC_WPNav/AC_Loiter.cpp
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@ -99,6 +99,7 @@ void AC_Loiter::init_target(const Vector3f& position)
_predicted_accel.zero();
_desired_accel.zero();
_predicted_euler_angle.zero();
_brake_accel = 0.0f;
// set target position
_pos_control.set_pos_target_xy_cm(position.x, position.y);
@ -121,6 +122,7 @@ void AC_Loiter::init_target()
_predicted_accel.y = _pos_control.get_accel_target_cmss().y;
_predicted_euler_angle.x = radians(_pos_control.get_roll_cd()*0.01f);
_predicted_euler_angle.y = radians(_pos_control.get_pitch_cd()*0.01f);
_brake_accel = 0.0f;
}
/// reduce response for landing

4
libraries/AC_WPNav/AC_Loiter.h
View File

@ -85,6 +85,6 @@ protected:
Vector2f _predicted_accel;
Vector2f _predicted_euler_angle;
Vector2f _predicted_euler_rate;
float _brake_timer;
float _brake_accel;
uint32_t _brake_timer; // system time that brake was initiated
float _brake_accel; // acceleration due to braking from previous iteration (used for jerk limiting)
};