From 267dbe9b7a787e7af7dc7453e6e8de95a04c1c1a Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Fri, 12 May 2017 16:24:13 +0200 Subject: [PATCH] mc_pos_control: when close to current and previous, ajdust target velocity --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index b6f9a23c5e..b686fffe0f 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1497,8 +1497,6 @@ void MulticopterPositionControl::control_auto(float dt) || !next_setpoint_valid) && ((pos_sp_diff.length()) < SIGMA_NORM); - - /* only follow line if previous to current has a minimum distance */ if ((vec_prev_to_current.length() > _nav_rad.get()) && !stay_at_current_pos) { @@ -1561,7 +1559,6 @@ void MulticopterPositionControl::control_auto(float dt) vel_sp_along_track = vec_pos_to_current.length() * _params.pos_p(0); vel_sp_along_track = (vel_sp_along_track < get_cruising_speed_xy()) ? vel_sp_along_track : get_cruising_speed_xy(); - } else if (close_to_prev) { /* accelerate from previous setpoint towards current setpoint */