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Rover: remove redundant avoidance call from steering

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Randy Mackay 2018-04-28 13:54:25 +09:00
parent a7d66fdad6
commit dcce9dffba
1 changed files with 0 additions and 3 deletions
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3
APMrover2/mode_steering.cpp
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@ -47,9 +47,6 @@ void ModeSteering::update()
// mark us as in_reverse when using a negative throttle // mark us as in_reverse when using a negative throttle
rover.set_reverse(reversed); rover.set_reverse(reversed);
// apply object avoidance to desired speed using half vehicle's maximum acceleration/deceleration
rover.g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_accel_max(), ahrs.yaw, target_speed, rover.G_Dt);
// run lateral acceleration to steering controller // run lateral acceleration to steering controller
calc_steering_from_lateral_acceleration(desired_lat_accel, reversed); calc_steering_from_lateral_acceleration(desired_lat_accel, reversed);