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AC_WPNav: AC_Loiter: Fix loiter level bug

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Leonard Hall 2023-03-13 20:08:56 +09:00 committed by Andrew Tridgell
parent c0123bdc2f
commit f104d35d57
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_WPNav/AC_Loiter.cpp
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@ -116,8 +116,8 @@ void AC_Loiter::init_target()
_pos_control.set_correction_speed_accel_xy(LOITER_VEL_CORRECTION_MAX, _accel_cmss);
_pos_control.set_pos_error_max_xy_cm(LOITER_POS_CORRECTION_MAX);
// initialise position controller
_pos_control.init_xy_controller();
// initialise position controller and move target accelerations smoothly towards zero
_pos_control.relax_velocity_controller_xy();
// initialise predicted acceleration and angles from the position controller
_predicted_accel.x = _pos_control.get_accel_target_cmss().x;