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FlightTask StraightLine: remove 10% safety margin

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ChristophTobler 2018-07-23 10:48:13 +02:00 committed by ChristophTobler
parent 7e0976f0ef
commit 8b3716c0df
1 changed files with 2 additions and 2 deletions
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src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
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@ -73,8 +73,8 @@ void StraightLine::generateSetpoints(matrix::Vector3f &position_setpoint, matrix
// previous velocity in the direction of the line
float speed_sp_prev = math::max(velocity_setpoint * u_orig_to_target, 0.0f);
// Calculate accelerating/decelerating distance depending on speed, speed at target and acceleration/deceleration (add 10% safety margin)
float acc_dec_distance = 1.1f * fabs(powf(_desired_speed, 2) - powf(_desired_speed_at_target, 2)) / 2.0f;
// Calculate accelerating/decelerating distance depending on speed, speed at target and acceleration/deceleration
float acc_dec_distance = fabs(powf(_desired_speed, 2) - powf(_desired_speed_at_target, 2)) / 2.0f;
acc_dec_distance /= _desired_speed > _desired_speed_at_target ? _desired_deceleration : _desired_acceleration;
float dist_to_target = (_target - _pos).length(); // distance to target