Skip to content
GitLab
Explore
Sign in
Register
Primary navigation
Search or go to…
Project
A
Ardupilot
Manage
Activity
Members
Labels
Plan
Issues
0
Issue boards
Milestones
Wiki
Code
Merge requests
0
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Snippets
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Model registry
Operate
Environments
Monitor
Incidents
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
OpenSource
Ardupilot
Commits
fff56c47
Commit
fff56c47
authored
12 years ago
by
Randy Mackay
Browse files
Options
Downloads
Patches
Plain Diff
WPNav: stopping point projection uses wp_leash
parent
a2ea053c
No related branches found
Branches containing commit
No related tags found
No related merge requests found
Changes
1
Hide whitespace changes
Inline
Side-by-side
Showing
1 changed file
libraries/AC_WPNav/AC_WPNav.cpp
+1
-1
1 addition, 1 deletion
libraries/AC_WPNav/AC_WPNav.cpp
with
1 addition
and
1 deletion
libraries/AC_WPNav/AC_WPNav.cpp
+
1
−
1
View file @
fff56c47
...
@@ -137,7 +137,7 @@ void AC_WPNav::get_stopping_point(const Vector3f& position, const Vector3f& velo
...
@@ -137,7 +137,7 @@ void AC_WPNav::get_stopping_point(const Vector3f& position, const Vector3f& velo
linear_distance
=
_wp_accel_cms
/
(
2.0
f
*
kP
*
kP
);
linear_distance
=
_wp_accel_cms
/
(
2.0
f
*
kP
*
kP
);
target_dist
=
linear_distance
+
(
vel_total
*
vel_total
)
/
(
2.0
f
*
_wp_accel_cms
);
target_dist
=
linear_distance
+
(
vel_total
*
vel_total
)
/
(
2.0
f
*
_wp_accel_cms
);
}
}
target_dist
=
constrain_float
(
target_dist
,
0
,
_
loiter
_leash
*
2.0
f
);
target_dist
=
constrain_float
(
target_dist
,
0
,
_
wp
_leash
_xy
*
2.0
f
);
target
.
x
=
position
.
x
+
(
target_dist
*
velocity
.
x
/
vel_total
);
target
.
x
=
position
.
x
+
(
target_dist
*
velocity
.
x
/
vel_total
);
target
.
y
=
position
.
y
+
(
target_dist
*
velocity
.
y
/
vel_total
);
target
.
y
=
position
.
y
+
(
target_dist
*
velocity
.
y
/
vel_total
);
...
...
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment