Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-31 18:47:21 +08:00
Code Issues Actions 20 Packages Projects Releases Wiki Activity

FlightTaskUtility: remove duplicate slewrate

Browse Source
This commit is contained in:
Dennis Mannhart
2018-01-11 15:41:54 +01:00
committed by Beat Küng
parent c1bb0cbdcc
commit d64b59b95f
1 changed files with 2 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
+2 -5
View File
@@ -63,6 +63,8 @@ ManualSmoothingXY::smoothVelocity(matrix::Vector2f &vel_sp, const matrix::Vector
_updateAcceleration(vel_sp, vel, yaw, yawrate_sp, dt); _updateAcceleration(vel_sp, vel, yaw, yawrate_sp, dt);
_velocitySlewRate(vel_sp, dt); _velocitySlewRate(vel_sp, dt);
_vel_sp_prev = vel_sp;
} }
void void
@@ -106,11 +108,6 @@ ManualSmoothingXY::_updateAcceleration(matrix::Vector2f &vel_sp, const matrix::V
* intention. Jerk is only used for braking. * intention. Jerk is only used for braking.
*/ */
_getStateAcceleration(vel_sp, vel, intention, dt); _getStateAcceleration(vel_sp, vel, intention, dt);
/* Smooth velocity setpoint based on acceleration */
_velocitySlewRate(vel_sp, dt);
_vel_sp_prev = vel_sp;
} }
ManualSmoothingXY::Intention ManualSmoothingXY::Intention