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Code Issues Releases Activity

OP-1287 made velocity calculation implicit in pathfollower based on distance only

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This commit is contained in:
Corvus Corax 2014-06-07 16:30:39 +02:00
parent 8f9b5b2282
commit c3d20e72b9
1 changed files with 0 additions and 3 deletions
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3
flight/libraries/plans.c
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@ -285,7 +285,6 @@ static void plan_run_PositionVario(vario_type type)
pathDesired.Start.North = pathDesired.End.North + maxGradient.Distance; // in FlyEndPoint the direction of this vector does not matter
pathDesired.Start.East = pathDesired.End.East;
pathDesired.Start.Down = pathDesired.End.Down;
pathDesired.StartingVelocity = maxGradient.Speed;
PathDesiredSet(&pathDesired);
}
} else {
@ -323,7 +322,6 @@ static void plan_run_PositionVario(vario_type type)
pathDesired.Start.North = pathDesired.End.North + maxGradient.Distance; // in FlyEndPoint the direction of this vector does not matter
pathDesired.Start.East = pathDesired.End.East;
pathDesired.Start.Down = pathDesired.End.Down;
pathDesired.StartingVelocity = maxGradient.Speed;
PathDesiredSet(&pathDesired);
}
}
@ -450,6 +448,5 @@ void plan_run_AutoCruise()
pathDesired.Start.North = pathDesired.End.North + maxGradient.Distance; // in FlyEndPoint the direction of this vector does not matter
pathDesired.Start.East = pathDesired.End.East;
pathDesired.Start.Down = pathDesired.End.Down;
pathDesired.StartingVelocity = maxGradient.Speed * controlVector[3];
PathDesiredSet(&pathDesired);
}