dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

FlightTasks: fix mission DO_CHANGE_SPEED 

This fixes the issue where the  DO_CHANGE_SPEED command was ignored and
the drone always travelled at the MPC_XY_CRUISE velocity.
This commit is contained in:
Julian Oes 2019-04-03 11:02:02 +02:00 committed by Lorenz Meier
parent 99fb88ce83
commit a21242b0e3
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
View File

@ -167,7 +167,7 @@ void FlightTaskAutoLineSmoothVel::_prepareSetpoints()
Vector2f u_pos_traj_to_dest_xy(Vector2f(pos_traj_to_dest).unit_or_zero());
float speed_sp_track = Vector2f(pos_traj_to_dest).length() * MPC_XY_TRAJ_P.get();
speed_sp_track = math::constrain(speed_sp_track, 0.0f, MPC_XY_CRUISE.get());
speed_sp_track = math::constrain(speed_sp_track, 0.0f, _mc_cruise_speed);
Vector2f vel_sp_xy = u_pos_traj_to_dest_xy * speed_sp_track;
for (int i = 0; i < 2; i++) {