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@ -862,6 +862,11 @@ float AC_WPNav::get_bearing_cd(const Vector3f &origin, const Vector3f &destinati
@@ -862,6 +862,11 @@ float AC_WPNav::get_bearing_cd(const Vector3f &origin, const Vector3f &destinati
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/// calc_slow_down_distance - calculates distance before waypoint that target point should begin to slow-down assuming it is travelling at full speed
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void AC_WPNav::calc_slow_down_distance(float speed_cms, float accel_cmss) |
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{ |
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// protect against divide by zero
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if (accel_cmss <= 0.0f) { |
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_slow_down_dist = 0.0f; |
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return; |
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} |
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// To-Do: should we use a combination of horizontal and vertical speeds?
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// To-Do: update this automatically when speed or acceleration is changed
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_slow_down_dist = speed_cms * speed_cms / (4.0f*accel_cmss); |
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