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AC_WPNav: support Control: Refactor to use Jerk

This commit is contained in:
Leonard Hall 2021-08-06 19:10:29 +09:30 committed by Randy Mackay
parent eff91e87ca
commit eb652b71f9
1 changed files with 1 additions and 2 deletions
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3
libraries/AC_WPNav/AC_WPNav.cpp
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@ -465,8 +465,7 @@ bool AC_WPNav::advance_wp_target_along_track(float dt)
update_vel_accel(_terain_vel, _terain_accel, dt, false); update_vel_accel(_terain_vel, _terain_accel, dt, false);
shape_vel_accel( _wp_desired_speed_xy_cms * offset_z_scaler, 0.0, shape_vel_accel( _wp_desired_speed_xy_cms * offset_z_scaler, 0.0,
_terain_vel, _terain_accel, _terain_vel, _terain_accel,
0.0, _wp_desired_speed_xy_cms, -_wp_accel_cmss, _wp_accel_cmss, _pos_control.get_shaping_jerk_xy_cmsss(), dt, true);
-_wp_accel_cmss, _wp_accel_cmss, _pos_control.get_shaping_tc_xy_s(), dt);
vel_time_scalar = _terain_vel / _wp_desired_speed_xy_cms; vel_time_scalar = _terain_vel / _wp_desired_speed_xy_cms;
} }