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npfg: fix incorrect extra multiplication of airspeed to acceleration reference

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This commit is contained in:
Thomas Stastny
2021-10-01 10:43:50 +02:00
committed by JaeyoungLim
parent c70df1e324
commit 8641cabeec
1 changed files with 2 additions and 2 deletions
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src/lib/npfg/npfg.cpp
+2 -2
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@@ -508,12 +508,12 @@ float NPFG::lateralAccel(const Vector2f &air_vel, const Vector2f &air_vel_ref, c
if (dot_air_vel_err < 0.0f) {
// hold max lateral acceleration command above 90 deg heading error
return p_gain_ * ((cross_air_vel_err < 0.0f) ? -airspeed *airspeed : airspeed * airspeed);
return p_gain_ * ((cross_air_vel_err < 0.0f) ? -airspeed : airspeed);
} else {
// airspeed/airspeed_ref is used to scale any incremented airspeed reference back to the current airspeed
// for acceleration commands in a "feedback" sense (i.e. at the current vehicle airspeed)
return p_gain_ * cross_air_vel_err * airspeed / airspeed_ref_;
return p_gain_ * cross_air_vel_err / airspeed_ref_;
}
} // lateralAccel