From b00ebe53bb68d8239a17304d3a3a89455368d043 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 7 Dec 2021 16:56:43 +0100 Subject: [PATCH] FlightTaskAuto: use MPC_VEL_MAX instead of MPC_XY_CRUISE for emergency braking thresholds Signed-off-by: Silvan Fuhrer --- src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp index 48de6aac35..30ca8abd33 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp @@ -735,7 +735,7 @@ void FlightTaskAuto::_checkEmergencyBraking() (factor * _param_mpc_z_vel_max_dn.get()) || _position_smoothing.getCurrentVelocityZ() < -(factor * _param_mpc_z_vel_max_up.get()); const bool is_horizontal_speed_exceeded = _position_smoothing.getCurrentVelocityXY().longerThan( - factor * _param_mpc_xy_cruise.get()); + factor * _param_mpc_xy_vel_max.get()); if (is_vertical_speed_exceeded || is_horizontal_speed_exceeded) { _is_emergency_braking_active = true;