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AC_WPNav: WPNAV_LOIT_SPEED WPNAV_LOIT_MAXA take effect immediately

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Jonathan Challinger 2015-04-29 17:23:45 -07:00 committed by Randy Mackay
parent 674bedd867
commit f9c7f15052
1 changed files with 5 additions and 0 deletions
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libraries/AC_WPNav/AC_WPNav.cpp
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@ -330,6 +330,11 @@ void AC_WPNav::update_loiter(float ekfGndSpdLimit, float ekfNavVelGainScaler)
// initialise ekf position reset check // initialise ekf position reset check
check_for_ekf_position_reset(); check_for_ekf_position_reset();
// initialise pos controller speed and acceleration
_pos_control.set_speed_xy(_loiter_speed_cms);
_pos_control.set_accel_xy(_loiter_accel_cmss);
_pos_control.set_jerk_xy(_loiter_jerk_max_cmsss);
calc_loiter_desired_velocity(dt,ekfGndSpdLimit); calc_loiter_desired_velocity(dt,ekfGndSpdLimit);
_pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_LIMITED_AND_VEL_FF, ekfNavVelGainScaler, true); _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_LIMITED_AND_VEL_FF, ekfNavVelGainScaler, true);
} }