AC_WPNav: remove unnecessary limit in leash calc

12 years ago · ed298363f4
1 changed files with 0 additions and 3 deletions
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@ -461,9 +461,6 @@ void AC_WPNav::calculate_leash_length(bool climb)
				@@ -461,9 +461,6 @@ void AC_WPNav::calculate_leash_length(bool climb)

    // get loiter position P
    float kP = _pid_pos_lat->kP();
-    if(kP <= 0.51) {
-        kP = 0.51;
-    }

    // calculate horiztonal leash length
    if(_speed_xy_cms <= MAX_LOITER_POS_ACCEL / kP) {