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This commit is contained in:
Julian Kent
2019-12-13 10:22:56 +01:00
committed by Mathieu Bresciani
parent 75d7a049c1
commit 603a993380
1 changed files with 4 additions and 1 deletions
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src/lib/flight_tasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
+4 -1
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@@ -195,7 +195,8 @@ float FlightTaskAutoLineSmoothVel::_getMaxXYSpeed() const
Vector3f waypoints[3];
waypoints[0] = pos_traj;
// constrain velocity to go to the position setpoint first if our tracking is really bad
// constrain velocity to go to the position setpoint first if the position setpoint has been modified by an external source
// (eg. Obstacle Avoidance)
if ((pos_traj - _position_setpoint).longerThan(_target_acceptance_radius)) {
waypoints[1] = _position_setpoint;
waypoints[2] = _target;
@@ -217,6 +218,8 @@ float FlightTaskAutoLineSmoothVel::_getMaxZSpeed() const
_trajectory[2].getCurrentPosition());
float z_setpoint = _target(2);
// constrain velocity to go to the position setpoint first if the position setpoint has been modified by an external source
// (eg. Obstacle Avoidance)
if ((pos_traj - _position_setpoint).longerThan(_target_acceptance_radius)) {
z_setpoint = _position_setpoint(2);
}