forked from Archive/PX4-Autopilot
AutoLineSmoothVel - Do not generate heading from trajectory if the velocity vector is smaller than 10cm/s
This is done to avoid generating large yaw changes when the velocity vector is small; for example when switching into loiter or reaching the last waypoint.
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@ -91,7 +91,7 @@ bool FlightTaskAutoLineSmoothVel::_generateHeadingAlongTraj()
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bool res = false;
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Vector2f vel_sp_xy(_velocity_setpoint);
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if (vel_sp_xy.length() > .01f) {
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if (vel_sp_xy.length() > .1f) {
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// Generate heading from velocity vector, only if it is long enough
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_compute_heading_from_2D_vector(_yaw_setpoint, vel_sp_xy);
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res = true;
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