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Collision prevention improvements (#11866)

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* match max vel in col-prev to regular pos ctrl
* change warning criterium to avoid float error
* disable push back from obstacles
* use floats consistently
This commit is contained in:
baumanta
2019-04-17 13:20:29 -04:00
committed by Daniel Agar
parent 463b8a7528
commit c0a1f5b72f
2 changed files with 15 additions and 26 deletions
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src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp
+1 -1
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@@ -134,7 +134,7 @@ void FlightTaskManualPosition::_scaleSticks()
// collision prevention
if (_collision_prevention.is_active()) {
_collision_prevention.modifySetpoint(vel_sp_xy, _constraints.speed_xy);
_collision_prevention.modifySetpoint(vel_sp_xy, _velocity_scale);
}
_velocity_setpoint(0) = vel_sp_xy(0);