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AC_WPNav: reduce leash length for stopping

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We now limit the target stopping point to 1x the xy leash length while
previously it was 2x.  This is justified because this limit is only used
when the copter is travelling at higher speeds but at higher speeds air
drag tends to make the copter stop more quickly naturally.
This commit is contained in:
Randy Mackay 2013-12-13 21:59:23 +09:00
parent b89edb94f7
commit 5bb5f1d5bd
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_WPNav/AC_WPNav.cpp
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@ -139,7 +139,7 @@ void AC_WPNav::get_stopping_point(const Vector3f& position, const Vector3f& velo
linear_distance = _wp_accel_cms/(2.0f*kP*kP);
target_dist = linear_distance + (vel_total*vel_total)/(2.0f*_wp_accel_cms);
}
target_dist = constrain_float(target_dist, 0, _wp_leash_xy*2.0f);
target_dist = constrain_float(target_dist, 0, _wp_leash_xy);
target.x = position.x + (target_dist * velocity.x / vel_total);
target.y = position.y + (target_dist * velocity.y / vel_total);