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FlightTaskUtility: remove duplicate slewrate

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Dennis Mannhart 2018-01-11 15:41:54 +01:00 committed by Beat Küng
parent c1bb0cbdcc
commit d64b59b95f
1 changed files with 2 additions and 5 deletions
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src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
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@ -63,6 +63,8 @@ ManualSmoothingXY::smoothVelocity(matrix::Vector2f &vel_sp, const matrix::Vector
_updateAcceleration(vel_sp, vel, yaw, yawrate_sp, dt);
_velocitySlewRate(vel_sp, dt);
_vel_sp_prev = vel_sp;
}
void
@ -106,11 +108,6 @@ ManualSmoothingXY::_updateAcceleration(matrix::Vector2f &vel_sp, const matrix::V
* intention. Jerk is only used for braking.
*/
_getStateAcceleration(vel_sp, vel, intention, dt);
/* Smooth velocity setpoint based on acceleration */
_velocitySlewRate(vel_sp, dt);
_vel_sp_prev = vel_sp;
}
ManualSmoothingXY::Intention