Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-23 00:04:02 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: much simpler SPEED_TURN_GAIN implementation

Browse Source 
as soon as we hit the SPEED_TURN_DIST we lower target speed to the
specified gain
This commit is contained in:
Andrew Tridgell 2014-05-18 21:15:07 +10:00
parent 69b5f352f6
commit fc0d703b9b
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
APMrover2/Steering.pde
View File

@ -109,7 +109,7 @@ static void calc_throttle(float target_speed)
if (control_mode >= AUTO && wp_distance <= g.speed_turn_dist) { if (control_mode >= AUTO && wp_distance <= g.speed_turn_dist) {
// in auto-modes we reduce speed when approaching waypoints // in auto-modes we reduce speed when approaching waypoints
float reduction2 = 1.0 - speed_turn_reduction*((g.speed_turn_dist - wp_distance)/g.speed_turn_dist); float reduction2 = 1.0 - speed_turn_reduction;
if (reduction2 < reduction) { if (reduction2 < reduction) {
reduction = reduction2; reduction = reduction2;
} }