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ManualSmoothingXY: ensure that maximum speed is correctly propagated to the smoothing class

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Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 9df337e243
commit 5ef2a61be5
3 changed files with 19 additions and 4 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.cpp
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@@ -52,6 +52,7 @@ void FlightTaskManualPositionSmooth::_updateSetpoints()
/* Smooth velocity setpoint in xy.*/
matrix::Vector2f vel(&_velocity(0));
Vector2f vel_sp_xy = Vector2f(&_velocity_setpoint(0));
_smoothingXY.updateMaxVelocity(_constraints.speed_xy);
_smoothingXY.smoothVelocity(vel_sp_xy, vel, _yaw, _yawspeed_setpoint, _deltatime);
_velocity_setpoint(0) = vel_sp_xy(0);
_velocity_setpoint(1) = vel_sp_xy(1);