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FlightTasks: fix mission DO_CHANGE_SPEED #11772

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Apr 3, 2019
Merged

FlightTasks: fix mission DO_CHANGE_SPEED #11772

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2 changes: 1 addition & 1 deletion src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -167,7 +167,7 @@ void FlightTaskAutoLineSmoothVel::_prepareSetpoints()
Vector2f u_pos_traj_to_dest_xy(Vector2f(pos_traj_to_dest).unit_or_zero());

float speed_sp_track = Vector2f(pos_traj_to_dest).length() * MPC_XY_TRAJ_P.get();
speed_sp_track = math::constrain(speed_sp_track, 0.0f, MPC_XY_CRUISE.get());
speed_sp_track = math::constrain(speed_sp_track, 0.0f, _mc_cruise_speed);
Vector2f vel_sp_xy = u_pos_traj_to_dest_xy * speed_sp_track;

for (int i = 0; i < 2; i++) {
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