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Rebase fix

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Use getnavspeed_2d for groundspeed
This commit is contained in:
Jaeyoung Lim
2022-01-26 16:41:00 +01:00
committed by JaeyoungLim
parent 3dd5c1fbaf
commit 2fc95bb369
1 changed files with 3 additions and 3 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -3
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@@ -1197,13 +1197,13 @@ FixedwingPositionControl::control_auto_position(const hrt_abstime &now, const fl
matrix::Vector2f velocity_2d(pos_sp_curr.vx, pos_sp_curr.vy);
float curvature = PX4_ISFINITE(_pos_sp_triplet.current.loiter_radius) ? 1 / _pos_sp_triplet.current.loiter_radius :
0.0f;
_npfg.navigatePathTangent(curr_pos, curr_wp, velocity_2d.normalized(), ground_speed, _wind_vel, curvature);
_npfg.navigatePathTangent(curr_pos, curr_wp, velocity_2d.normalized(), get_nav_speed_2d(ground_speed), _wind_vel,
curvature);
} else {
_npfg.navigateWaypoints(prev_wp, curr_wp, curr_pos, ground_speed, _wind_vel);
_npfg.navigateWaypoints(prev_wp, curr_wp, curr_pos, get_nav_speed_2d(ground_speed), _wind_vel);
}
_npfg.navigateWaypoints(prev_wp, curr_wp, curr_pos, get_nav_speed_2d(ground_speed), _wind_vel);
_att_sp.roll_body = _npfg.getRollSetpoint();
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;