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This commit is contained in:
Matthias Grob
2023-11-30 17:16:02 +01:00
parent 7b4712cb29
commit 8bb20db7da
8 changed files with 66 additions and 62 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+1 -2
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@@ -245,8 +245,7 @@ void FlightTaskOrbit::_updateTrajectoryBoundaries()
// Update the constraints of the trajectories
_position_smoothing.setMaxAccelerationXY(_param_mpc_acc_hor.get()); // TODO : Should be computed using heading
_position_smoothing.setMaxVelocityXY(_param_mpc_xy_vel_max.get());
float max_jerk = _param_mpc_jerk_auto.get();
_position_smoothing.setMaxJerk({max_jerk, max_jerk, max_jerk}); // TODO : Should be computed using heading
_position_smoothing.setMaxJerk(_param_mpc_jerk_auto.get()); // TODO : Should be computed using heading
if (_velocity_setpoint(2) < 0.f) { // up
_position_smoothing.setMaxVelocityZ(_param_mpc_z_v_auto_up.get());