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Code Issues Releases Activity

OP-1287 fix to lower speed limit in autocruise do not allow absolute zero speed to not loose direction

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This commit is contained in:
Corvus Corax 2014-06-07 16:16:55 +02:00
parent 090db92e8a
commit 8f9b5b2282
1 changed files with 1 additions and 1 deletions
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flight/libraries/plans.c
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@ -407,7 +407,7 @@ void plan_run_AutoCruise()
controlVector[3] = 0.5f; // dummy, thrust is normalized separately controlVector[3] = 0.5f; // dummy, thrust is normalized separately
normalizeDeadband(controlVector); // return value ignored normalizeDeadband(controlVector); // return value ignored
ManualControlCommandThrustGet(&controlVector[3]); // no deadband as we are using thrust for velocity ManualControlCommandThrustGet(&controlVector[3]); // no deadband as we are using thrust for velocity
controlVector[3] = boundf(controlVector[3], 0.0f, 1.0f); controlVector[3] = boundf(controlVector[3], 1e-6f, 1.0f); // bound to above zero, to prevent loss of vector direction
// normalize old desired movement vector // normalize old desired movement vector
float vector[3] = { pathDesired.End.North - hold_position[0], float vector[3] = { pathDesired.End.North - hold_position[0],