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use position controller parameters for limitation instead of acceleration/jerk

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baumanta
2019-06-04 16:47:33 +02:00
committed by Mathieu Bresciani
parent c497d94616
commit 2320088541
4 changed files with 30 additions and 17 deletions
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src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp
+2 -1
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@@ -134,7 +134,8 @@ void FlightTaskManualPosition::_scaleSticks()
// collision prevention
if (_collision_prevention.is_active()) {
_collision_prevention.modifySetpoint(vel_sp_xy, _velocity_scale, _param_mpc_acc_hor_max.get(), Vector2f(_velocity));
_collision_prevention.modifySetpoint(vel_sp_xy, _velocity_scale, Vector2f(_position),
Vector2f(_velocity));
}
_velocity_setpoint(0) = vel_sp_xy(0);