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AC_WPNav: make changes in WPNAV_ACCEL take effect immediately

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this makes it easier to tune the waypoint controller in auto mode
This commit is contained in:
Andrew Tridgell 2015-08-31 11:10:35 +10:00
parent 2c7a113790
commit f6f2973acd
1 changed files with 5 additions and 0 deletions
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5
libraries/AC_WPNav/AC_WPNav.cpp
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@ -639,6 +639,11 @@ void AC_WPNav::update_wpnav()
// update at poscontrol update rate // update at poscontrol update rate
if (dt >= _pos_control.get_dt_xy()) { if (dt >= _pos_control.get_dt_xy()) {
// allow the accel and speed values to be set without changing
// out of auto mode. This makes it easier to tune auto flight
_pos_control.set_accel_xy(_wp_accel_cms);
_pos_control.set_accel_z(_wp_accel_z_cms);
// sanity check dt // sanity check dt
if (dt >= 0.2f) { if (dt >= 0.2f) {
dt = 0.0f; dt = 0.0f;