From d64b59b95ff7933ecab3e776026c4713016fbb39 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Thu, 11 Jan 2018 15:41:54 +0100 Subject: [PATCH] FlightTaskUtility: remove duplicate slewrate --- src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp index 8f70e46a70..c72dcc295a 100644 --- a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp +++ b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp @@ -63,6 +63,8 @@ ManualSmoothingXY::smoothVelocity(matrix::Vector2f &vel_sp, const matrix::Vector _updateAcceleration(vel_sp, vel, yaw, yawrate_sp, dt); _velocitySlewRate(vel_sp, dt); + + _vel_sp_prev = vel_sp; } void @@ -106,11 +108,6 @@ ManualSmoothingXY::_updateAcceleration(matrix::Vector2f &vel_sp, const matrix::V * intention. Jerk is only used for braking. */ _getStateAcceleration(vel_sp, vel, intention, dt); - - /* Smooth velocity setpoint based on acceleration */ - _velocitySlewRate(vel_sp, dt); - - _vel_sp_prev = vel_sp; } ManualSmoothingXY::Intention