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change collision prevention algorithm

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baumanta
2019-06-04 16:47:33 +02:00
committed by Mathieu Bresciani
parent 8427cd3051
commit 60befdce5b
3 changed files with 51 additions and 89 deletions
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src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp
+1 -1
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@@ -134,7 +134,7 @@ void FlightTaskManualPosition::_scaleSticks()
// collision prevention
if (_collision_prevention.is_active()) {
_collision_prevention.modifySetpoint(vel_sp_xy, _velocity_scale, _velocity);
_collision_prevention.modifySetpoint(vel_sp_xy, _velocity_scale, _param_mpc_acc_hor_max.get());
}
_velocity_setpoint(0) = vel_sp_xy(0);