L1_dist can become extremely short for slow moving vehicles leading to unnecessarily jerk turns after passing waypoints. This reduces the minimum length along the track that the vehicle will point.
This limits the change in desired turn rate to reduce impossible requests which should help avoid overshoot
Also add rotation rate limit to turn-rate controller
../../libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp: In member
function ‘void AP_Proximity_LightWareSF40C::request_new_data()’:
../../libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp:235:6:
warning:
‘__builtin___snprintf_chk’ output may be truncated before the last
format
character [-Wformat-truncation=]
void AP_Proximity_LightWareSF40C::request_new_data()
^~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/stdio.h:862:0,
from ../../libraries/AP_Common/AP_Common.h:179,
from ../../libraries/AP_HAL/UARTDriver.h:5,
from ../../libraries/AP_HAL/HAL.h:11,
from ../../libraries/AP_HAL/AP_HAL_Main.h:19,
from ../../libraries/AP_HAL/AP_HAL.h:8,
from
../../libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp:16:
/usr/include/x86_64-linux-gnu/bits/stdio2.h:65:44: note:
‘__builtin___snprintf_chk’ output between 10 and 16 bytes into a
destination
of size 15
__bos (__s), __fmt, __va_arg_pack ());
^
../../libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp: In member
function ‘bool
AP_Proximity_LightWareSF40C::send_request_for_distance()’:
../../libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp:275:6:
warning:
‘__builtin___snprintf_chk’ output may be truncated before the last
format
character [-Wformat-truncation=]
bool AP_Proximity_LightWareSF40C::send_request_for_distance()
^~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/stdio.h:862:0,
from ../../libraries/AP_Common/AP_Common.h:179,
from ../../libraries/AP_HAL/UARTDriver.h:5,
from ../../libraries/AP_HAL/HAL.h:11,
from ../../libraries/AP_HAL/AP_HAL_Main.h:19,
from ../../libraries/AP_HAL/AP_HAL.h:8,
from
../../libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp:16:
/usr/include/x86_64-linux-gnu/bits/stdio2.h:65:44: note:
Andrew Tridgell
Randy Mackay
Tom Pittenger
Peter Barker
Alexey Bulatov
Francisco Ferreira
Michael du Breuil