From 8b3716c0df292ddda71a6114d55ad9df2e7ff37d Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Mon, 23 Jul 2018 10:48:13 +0200 Subject: [PATCH] FlightTask StraightLine: remove 10% safety margin --- src/lib/FlightTasks/tasks/Utility/StraightLine.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp b/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp index 1313bbc843..1c89598814 100644 --- a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp +++ b/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp @@ -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