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WPNav: stopping point projection uses wp_leash

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Randy Mackay 2013-07-11 11:33:06 +09:00
parent a2ea053c90
commit fff56c4720
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_WPNav/AC_WPNav.cpp
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@ -137,7 +137,7 @@ void AC_WPNav::get_stopping_point(const Vector3f& position, const Vector3f& velo
linear_distance = _wp_accel_cms/(2.0f*kP*kP); linear_distance = _wp_accel_cms/(2.0f*kP*kP);
target_dist = linear_distance + (vel_total*vel_total)/(2.0f*_wp_accel_cms); target_dist = linear_distance + (vel_total*vel_total)/(2.0f*_wp_accel_cms);
} }
target_dist = constrain_float(target_dist, 0, _loiter_leash*2.0f); target_dist = constrain_float(target_dist, 0, _wp_leash_xy*2.0f);
target.x = position.x + (target_dist * velocity.x / vel_total); target.x = position.x + (target_dist * velocity.x / vel_total);
target.y = position.y + (target_dist * velocity.y / vel_total); target.y = position.y + (target_dist * velocity.y / vel_total);