forked from Archive/PX4-Autopilot
revert FlightTasks: fix mission DO_CHANGE_SPEED
This commit is contained in:
parent
20adce5077
commit
dec96b0a3a
|
@ -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() * _param_mpc_xy_traj_p.get();
|
||||
speed_sp_track = math::constrain(speed_sp_track, 0.0f, _mc_cruise_speed);
|
||||
speed_sp_track = math::constrain(speed_sp_track, 0.0f, _param_mpc_xy_cruise.get());
|
||||
|
||||
Vector2f vel_sp_xy = u_pos_traj_to_dest_xy * speed_sp_track;
|
||||
|
||||
|
|
Loading…
Reference in New Issue