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Copter: bug fix for slow loiter repositioning

mission-4.1.18
Randy Mackay 12 years ago
parent
01da926f04
commit
55235630b6
1 changed files with 1 additions and 1 deletions
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  1. 2
      libraries/AC_WPNav/AC_WPNav.cpp

2
libraries/AC_WPNav/AC_WPNav.cpp
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@ -168,7 +168,7 @@ void AC_WPNav::translate_loiter_target_movements(float nav_dt)
// constrain the velocity vector and scale if necessary // constrain the velocity vector and scale if necessary
vel_delta_total = safe_sqrt(target_vel_adj.x*target_vel_adj.x + target_vel_adj.y*target_vel_adj.y); vel_delta_total = safe_sqrt(target_vel_adj.x*target_vel_adj.x + target_vel_adj.y*target_vel_adj.y);
vel_max = MAX_LOITER_POS_ACCEL*nav_dt; vel_max = 2.0*MAX_LOITER_POS_ACCEL*nav_dt;
if( vel_delta_total > vel_max) { if( vel_delta_total > vel_max) {
target_vel_adj.x = vel_max * target_vel_adj.x/vel_delta_total; target_vel_adj.x = vel_max * target_vel_adj.x/vel_delta_total;
target_vel_adj.y = vel_max * target_vel_adj.y/vel_delta_total; target_vel_adj.y = vel_max * target_vel_adj.y/vel_delta_total;

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