From 42404ade77aecc4352a88c414d9d53ae9698d768 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 24 Jan 2022 17:47:37 +0100 Subject: [PATCH] FlightTaskOrbit: Use cruise speed and manual acceleration for radius and velocity changes instead of arbitrary fractions of the maximum radius and velocity. --- .../flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp index 0adc4f6eae..7c84eb986b 100644 --- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp +++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp @@ -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;