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AC_Circle: constantly update velocity from params

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Iampete1 2020-06-23 12:32:34 +01:00 committed by Randy Mackay
parent bb14746517
commit b1c3ea467b
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_WPNav/AC_Circle.cpp
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@ -139,7 +139,6 @@ void AC_Circle::set_rate(float deg_per_sec)
{
if (!is_equal(deg_per_sec, _rate.get())) {
_rate = deg_per_sec;
calc_velocities(false);
}
}
@ -147,7 +146,6 @@ void AC_Circle::set_rate(float deg_per_sec)
void AC_Circle::set_radius(float radius_cm)
{
_radius = constrain_float(radius_cm, 0, AC_CIRCLE_RADIUS_MAX);
calc_velocities(false);
}
/// returns true if update has been run recently
@ -160,6 +158,8 @@ bool AC_Circle::is_active() const
/// update - update circle controller
bool AC_Circle::update()
{
calc_velocities(false);
// calculate dt
float dt = _pos_control.time_since_last_xy_update();
if (dt >= 0.2f) {