From f1e3546e9ee5be7f201eac834fd18b5132cf52c6 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 29 Jun 2023 16:52:59 +0900 Subject: [PATCH] Rover: circle mode loses input shaping --- Rover/mode_circle.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Rover/mode_circle.cpp b/Rover/mode_circle.cpp index 28dbc15f0c..8368881274 100644 --- a/Rover/mode_circle.cpp +++ b/Rover/mode_circle.cpp @@ -177,7 +177,7 @@ void ModeCircle::update() target.accel = Vector2f(sq(target.speed) / config.radius, 0); target.accel.rotate(target.yaw_rad + radians(180)); - g2.pos_control.input_pos_vel_accel_target(target.pos, target.vel, target.accel, rover.G_Dt); + g2.pos_control.set_pos_vel_accel_target(target.pos, target.vel, target.accel); g2.pos_control.update(rover.G_Dt); // get desired speed and turn rate from pos_control