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FlightTaskOrbit: Use cruise speed and manual acceleration for radius and velocity changes

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instead of arbitrary fractions of the maximum radius and velocity.
This commit is contained in:
Matthias Grob
2022-01-24 17:47:37 +01:00
parent 7c55229db7
commit 42404ade77
1 changed files with 2 additions and 2 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+2 -2
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@@ -192,8 +192,8 @@ bool FlightTaskOrbit::update()
_updateTrajectoryBoundaries();
// stick input adjusts parameters within a fixed time frame
float radius = _orbit_radius - _sticks.getPositionExpo()(0) * _deltatime * (_radius_max / 8.f);
float velocity = _orbit_velocity - _sticks.getPositionExpo()(1) * _deltatime * (_velocity_max / 4.f);
float radius = _orbit_radius - _sticks.getPositionExpo()(0) * _deltatime * _param_mpc_xy_cruise.get();
float velocity = _orbit_velocity - _sticks.getPositionExpo()(1) * _deltatime * _param_mpc_acc_hor.get();
_sanitizeParams(radius, velocity);
_orbit_radius = radius;
_orbit_velocity = velocity;