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AR_WPNav: set desired lat accel and crosstrack to zero when disarmed

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This commit is contained in:
Randy Mackay 2022-01-05 13:35:23 +09:00
parent c66f6188ea
commit 2a1013e896
1 changed files with 2 additions and 0 deletions
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2
libraries/AR_WPNav/AR_WPNav.cpp
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@ -133,7 +133,9 @@ void AR_WPNav::update(float dt)
float speed;
if (!hal.util->get_soft_armed() || !_orig_and_dest_valid || !AP::ahrs().get_location(current_loc) || !_atc.get_forward_speed(speed)) {
_desired_speed_limited = _atc.get_desired_speed_accel_limited(0.0f, dt);
_desired_lat_accel = 0.0f;
_desired_turn_rate_rads = 0.0f;
_cross_track_error = 0;
return;
}