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FlightTaskAutoLine: ensure that desired speed along track does not exceed maximum speed at threshold to target

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Dennis Mannhart 2018-11-29 09:55:18 +01:00 committed by Lorenz Meier
parent d76aec4eb2
commit 370371767f
1 changed files with 3 additions and 0 deletions
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3
src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp
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@ -155,6 +155,9 @@ void FlightTaskAutoLine::_generateXYsetpoints()
// accelerate towards target // accelerate towards target
speed_sp_track = acc_max * _deltatime + speed_sp_prev_track; speed_sp_track = acc_max * _deltatime + speed_sp_prev_track;
} }
// ensure that desired speed does not exceed speed at threshold
speed_sp_track = math::min(speed_threshold, speed_sp_track);
} }
speed_sp_track = math::constrain(speed_sp_track, 0.0f, _mc_cruise_speed); speed_sp_track = math::constrain(speed_sp_track, 0.0f, _mc_cruise_speed);