Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: sailboats enable wpnav's overspeed support

Browse Source
This commit is contained in:
Randy Mackay 2022-01-05 15:14:25 +09:00
parent 653afbeb15
commit ee317299fc
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
Rover/sailboat.cpp
View File

@ -141,6 +141,10 @@ void Sailboat::init()
// sailboat defaults // sailboat defaults
if (sail_enabled()) { if (sail_enabled()) {
rover.g2.crash_angle.set_default(0); rover.g2.crash_angle.set_default(0);
// sailboats without motors may travel faster than WP_SPEED so allow waypoint navigation to
// speedup to catch the vehicle instead of asking the vehicle to slow down
rover.g2.wp_nav.enable_overspeed(motor_state != UseMotor::USE_MOTOR_ALWAYS);
} }
if (tack_enabled()) { if (tack_enabled()) {