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AC_Loiter: use AP_Math control tools common functions

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Leonard Hall 2020-09-08 00:01:06 +09:30 committed by Andrew Tridgell
parent 6320338771
commit e2308e9414
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_WPNav/AC_Loiter.cpp
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@ -279,7 +279,7 @@ void AC_Loiter::calc_desired_velocity(float nav_dt)
if (_desired_accel.is_zero()) {
if ((AP_HAL::millis()-_brake_timer) > _brake_delay * 1000.0f) {
float brake_gain = _pos_control.get_vel_xy_pid().kP() * 0.5f;
loiter_brake_accel = constrain_float(AC_AttitudeControl::sqrt_controller(desired_speed, brake_gain, _brake_jerk_max_cmsss, nav_dt), 0.0f, _brake_accel_cmss);
loiter_brake_accel = constrain_float(sqrt_controller(desired_speed, brake_gain, _brake_jerk_max_cmsss, nav_dt), 0.0f, _brake_accel_cmss);
}
} else {
loiter_brake_accel = 0.0f;