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AR_AttitudeControl: get-steering-out-lat-accel uses negative speeds

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This commit is contained in:
Randy Mackay 2018-05-06 13:42:30 +09:00
parent 5563691bd1
commit fa76a7c904
1 changed files with 6 additions and 5 deletions
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11
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -187,12 +187,13 @@ float AR_AttitudeControl::get_steering_out_lat_accel(float desired_accel, bool m
return 0.0f;
}
// only use positive speed. Use reverse flag instead of negative speeds.
speed = fabsf(speed);
// enforce minimum speed to stop oscillations when first starting to move
if (speed < AR_ATTCONTROL_STEER_SPEED_MIN) {
speed = AR_ATTCONTROL_STEER_SPEED_MIN;
if (fabsf(speed) < AR_ATTCONTROL_STEER_SPEED_MIN) {
if (is_negative(speed)) {
speed = -AR_ATTCONTROL_STEER_SPEED_MIN;
} else {
speed = AR_ATTCONTROL_STEER_SPEED_MIN;
}
}
// Calculate the desired steering rate given desired_accel and speed