APM_Control: Correct use of deceleration

ArduPilot · Nov 4, 2024 · 3764f37 · 3764f37
1 parent 4c9da02
commit 3764f37
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp
@@ -1058,15 +1058,14 @@ float AR_AttitudeControl::get_desired_speed_accel_limited(float desired_speed, f
 float AR_AttitudeControl::get_stopping_distance(float speed) const
 {
     // get maximum vehicle deceleration
-    const float accel_max = get_accel_max();
+    const float decel_max = get_decel_max();
 
-    // avoid divide by zero
-    if ((accel_max <= 0.0f) || is_zero(speed)) {
+    if ((decel_max <= 0.0f) || is_zero(speed)) {
         return 0.0f;
     }
 
     // assume linear deceleration
-    return 0.5f * sq(speed) / accel_max;
+    return 0.5f * sq(speed) / decel_max;
 }
 
 // relax I terms of throttle and steering controllers