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mc_pos_control: use desired velocity to calculate vel_sp_along_track_prev

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if obstacle avoidance is running
This commit is contained in:
Martina
2018-04-06 15:38:16 +02:00
committed by Daniel Agar
parent d39b969e72
commit 8b20c66cfc
1 changed files with 4 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -2021,6 +2021,10 @@ void MulticopterPositionControl::control_auto()
/* current velocity along track */ /* current velocity along track */
float vel_sp_along_track_prev = matrix::Vector2f(_vel_sp(0), _vel_sp(1)) * unit_prev_to_current; float vel_sp_along_track_prev = matrix::Vector2f(_vel_sp(0), _vel_sp(1)) * unit_prev_to_current;
if (use_obstacle_avoidance()) {
vel_sp_along_track_prev = matrix::Vector2f(&_vel_sp_desired(0)) * unit_prev_to_current;
}
/* distance to target when brake should occur */ /* distance to target when brake should occur */
float target_threshold_xy = 1.5f * get_cruising_speed_xy(); float target_threshold_xy = 1.5f * get_cruising_speed_xy();