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Auto: Change 1G to a more accurate value

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This commit is contained in:
muramura
2024-02-07 00:06:15 +09:00
committed by Daniel Agar
parent 31bbda0b58
commit 00a9e4c76b
1 changed files with 2 additions and 2 deletions
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src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+2 -2
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@@ -809,8 +809,8 @@ void FlightTaskAuto::_updateTrajConstraints()
if (_is_emergency_braking_active) {
// When initializing with large velocity, allow 1g of
// acceleration in 1s on all axes for fast braking
_position_smoothing.setMaxAcceleration({9.81f, 9.81f, 9.81f});
_position_smoothing.setMaxJerk(9.81f);
_position_smoothing.setMaxAcceleration({9.80665f, 9.80665f, 9.80665f});
_position_smoothing.setMaxJerk(9.80665f);
// If the current velocity is beyond the usual constraints, tell
// the controller to exceptionally increase its saturations to avoid