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AC_Loiter: optimise get-posvelaccel-target usage

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This commit is contained in:
Randy Mackay 2024-09-17 13:49:10 +09:00
parent 2753b7030b
commit e20c7edf68
1 changed files with 1 additions and 2 deletions
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3
libraries/AC_WPNav/AC_Loiter.cpp
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@ -123,8 +123,7 @@ void AC_Loiter::init_target()
_pos_control.relax_velocity_controller_xy(); _pos_control.relax_velocity_controller_xy();
// initialise predicted acceleration and angles from the position controller // initialise predicted acceleration and angles from the position controller
_predicted_accel.x = _pos_control.get_accel_target_cmss().x; _predicted_accel = _pos_control.get_accel_target_cmss().xy();
_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.x = radians(_pos_control.get_roll_cd()*0.01f);
_predicted_euler_angle.y = radians(_pos_control.get_pitch_cd()*0.01f); _predicted_euler_angle.y = radians(_pos_control.get_pitch_cd()*0.01f);
_brake_accel = 0.0f; _brake_accel = 0.0f;