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follow_target: use actual velocity measurement

This commit is contained in:
Alessandro Simovic 2021-04-06 21:17:28 +02:00 committed by Daniel Agar
parent 5d9b3504f7
commit 2d6bc9b6e0
1 changed files with 8 additions and 1 deletions
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9
src/modules/navigator/follow_target.cpp
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@ -156,7 +156,14 @@ void FollowTarget::on_active()
&(_target_position_delta(0)), &(_target_position_delta(1)));
// update the average velocity of the target based on the position
_est_target_vel = _target_position_delta / (dt_ms / 1000.0f);
if (PX4_ISFINITE(_current_target_motion.vx) && PX4_ISFINITE(_current_target_motion.vy)) {
// No need to estimate target velocity if we can take it from the target
_est_target_vel(0) = _current_target_motion.vx;
_est_target_vel(1) = _current_target_motion.vy;
_est_target_vel(2) = 0.0f;
} else {
_est_target_vel = _target_position_delta / (dt_ms / 1000.0f);
}
// if the target is moving add an offset and rotation
if (_est_target_vel.length() > .5F) {