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Rover: slow before pivot turns

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This commit is contained in:
Randy Mackay 2018-05-21 20:38:31 +09:00
parent 4dca1c48f2
commit 444e64a3d0
1 changed files with 3 additions and 0 deletions
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3
APMrover2/mode.cpp
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@ -148,6 +148,9 @@ void Mode::set_desired_location(const struct Location& destination, float next_l
if (is_zero(turn_angle_cd)) { if (is_zero(turn_angle_cd)) {
// if not turning can continue at full speed // if not turning can continue at full speed
_desired_speed_final = _desired_speed; _desired_speed_final = _desired_speed;
} else if (rover.use_pivot_steering(turn_angle_cd)) {
// pivoting so we will stop
_desired_speed_final = 0.0f;
} else { } else {
// calculate maximum speed that keeps overshoot within bounds // calculate maximum speed that keeps overshoot within bounds
const float radius_m = fabsf(g.waypoint_overshoot / (cosf(radians(turn_angle_cd * 0.01f)) - 1.0f)); const float radius_m = fabsf(g.waypoint_overshoot / (cosf(radians(turn_angle_cd * 0.01f)) - 1.0f));