fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTaskOrbit: fix acceleration limit inverting velocity

Browse Source 
The formula only calculated the absolute value of the velocity and
the sign (rotation direction) got lost in that case.
This commit is contained in:
MaEtUgR 2018-07-12 11:48:04 +02:00 committed by ChristophTobler
parent 12290c27e6
commit 7c068e47ab
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
View File

@ -60,9 +60,9 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
bool FlightTaskOrbit::setRadius(const float r)
{
if (math::isInRange(r, _radius_min, _radius_max)) {
// radius is more important than velocity for safety
// small radius is more important than high velocity for safety
if (!checkAcceleration(r, _v, _acceleration_max)) {
_v = sqrtf(_acceleration_max * r);
_v = math::sign(_v) * sqrtf(_acceleration_max * r);
}
_r = r;