From fc0d703b9b551ceab2d86e0fb1b6d3767170079e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 18 May 2014 21:15:07 +1000
Subject: [PATCH] Rover: much simpler SPEED_TURN_GAIN implementation

as soon as we hit the SPEED_TURN_DIST we lower target speed to the
specified gain
---
 APMrover2/Steering.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/APMrover2/Steering.pde b/APMrover2/Steering.pde
index 0883dc27b..ccbb69bbb 100644
--- a/APMrover2/Steering.pde
+++ b/APMrover2/Steering.pde
@@ -109,7 +109,7 @@ static void calc_throttle(float target_speed)
     
     if (control_mode >= AUTO && wp_distance <= g.speed_turn_dist) {
         // in auto-modes we reduce speed when approaching waypoints
-        float reduction2 = 1.0 - speed_turn_reduction*((g.speed_turn_dist - wp_distance)/g.speed_turn_dist);
+        float reduction2 = 1.0 - speed_turn_reduction;
         if (reduction2 < reduction) {
             reduction = reduction2;
         }
-- 
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