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AC_WPNav: set_loiter_target uses set_xy_target

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Loiter is only a horizontal position controller so it should not set the
z-axis position.
Moved pos_control.set_speed and accel functions so order matches
init_loiter_targets function order
This commit is contained in:
Randy Mackay 2014-05-15 22:04:35 +09:00
parent aed5787c1b
commit e7b3c00767
1 changed files with 6 additions and 8 deletions
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14
libraries/AC_WPNav/AC_WPNav.cpp
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@ -125,19 +125,17 @@ void AC_WPNav::set_loiter_target(const Vector3f& position, bool reset_I)
// initialise position controller // initialise position controller
_pos_control.init_xy_controller(); _pos_control.init_xy_controller();
// initialise pos controller speed and acceleration
_pos_control.set_speed_xy(_loiter_speed_cms);
_loiter_accel_cms = _loiter_speed_cms/2.0f;
_pos_control.set_accel_xy(_loiter_accel_cms);
// set target position // set target position
_pos_control.set_pos_target(position); _pos_control.set_xy_target(position.x, position.y);
// initialise feed forward velocity to zero // initialise feed forward velocity to zero
_pos_control.set_desired_velocity(0,0); _pos_control.set_desired_velocity(0,0);
// initialise pos controller speed
_pos_control.set_speed_xy(_loiter_speed_cms);
// initialise pos controller acceleration
_loiter_accel_cms = _loiter_speed_cms/2.0f;
_pos_control.set_accel_xy(_loiter_accel_cms);
// initialise desired accel and add fake wind // initialise desired accel and add fake wind
_loiter_desired_accel.x = 0; _loiter_desired_accel.x = 0;
_loiter_desired_accel.y = 0; _loiter_desired_accel.y = 0;