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AC_WPNav: sanity check wpnav-radius

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Occasionally users accidentally set the wpnav-radius to 0 and the vehicle gets stuck at waypoints
This commit is contained in:
Randy Mackay 2017-05-18 12:25:47 +09:00
parent 945a7bfaed
commit f618359041
2 changed files with 3 additions and 1 deletions
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3
libraries/AC_WPNav/AC_WPNav.cpp
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@ -142,8 +142,9 @@ AC_WPNav::AC_WPNav(const AP_InertialNav& inav, const AP_AHRS_View& ahrs, AC_PosC
_flags.new_wp_destination = false; _flags.new_wp_destination = false;
_flags.segment_type = SEGMENT_STRAIGHT; _flags.segment_type = SEGMENT_STRAIGHT;
// sanity check loiter speed // sanity check some parameters
_loiter_speed_cms = MAX(_loiter_speed_cms, WPNAV_LOITER_SPEED_MIN); _loiter_speed_cms = MAX(_loiter_speed_cms, WPNAV_LOITER_SPEED_MIN);
_wp_radius_cm = MAX(_wp_radius_cm, WPNAV_WP_RADIUS_MIN);
} }
/// ///

1
libraries/AC_WPNav/AC_WPNav.h
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@ -24,6 +24,7 @@
#define WPNAV_WP_SPEED_MIN 20.0f // minimum horizontal speed between waypoints in cm/s #define WPNAV_WP_SPEED_MIN 20.0f // minimum horizontal speed between waypoints in cm/s
#define WPNAV_WP_TRACK_SPEED_MIN 50.0f // minimum speed along track of the target point the vehicle is chasing in cm/s (used as target slows down before reaching destination) #define WPNAV_WP_TRACK_SPEED_MIN 50.0f // minimum speed along track of the target point the vehicle is chasing in cm/s (used as target slows down before reaching destination)
#define WPNAV_WP_RADIUS 200.0f // default waypoint radius in cm #define WPNAV_WP_RADIUS 200.0f // default waypoint radius in cm
#define WPNAV_WP_RADIUS_MIN 10.0f // minimum waypoint radius in cm
#define WPNAV_WP_SPEED_UP 250.0f // default maximum climb velocity #define WPNAV_WP_SPEED_UP 250.0f // default maximum climb velocity
#define WPNAV_WP_SPEED_DOWN 150.0f // default maximum descent velocity #define WPNAV_WP_SPEED_DOWN 150.0f // default maximum descent velocity