Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-23 06:36:45 +08:00
Code Issues Actions 17 Packages Projects Releases Wiki Activity

change size of reaction angle

Browse Source
This commit is contained in:
baumanta
2019-07-29 13:38:00 +02:00
committed by Roman Bapst
parent b26d3ac9d4
commit 150b5df7cb
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/CollisionPrevention/CollisionPrevention.cpp
+2 -2
View File
@@ -224,8 +224,8 @@ void CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint,
float vel_setpoint_bin = setpoint.dot(bin_direction);
//limit the velocity
//do not react to obstacles more than 70 degree off the given stick input
if (vel_setpoint_bin > 0.94f * setpoint_length && vel_max_bin >= 0) {
//do not react to obstacles more than 45 degree off the given stick input cos(45deg) = 0.71
if (vel_setpoint_bin > 0.71f * setpoint_length && vel_max_bin >= 0) {
vel_max = math::min(vel_max, vel_max_bin);
}
}