APM_Control: Use deceleration for stopping distance #28442
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Turns out there's a bunch of other parts of Rover that just use acceleration instead of deceleration. Will add them to this PR... |
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Digging further into this, the s-curve navigation assumes that the max acceleration and deceleration are the same value. There's some fairly scary-looking maths in the s-curve navigation that I don't think I'd be able to extend to different acceleration/deceleration values. So I'll keep this patch to the current fixing of the APM_Control portion of the code. Any flight mode that uses s-curves will continue to use the minimum of (atc_accel_max, atc_decel_max). Tested in SITL. |
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For Rover, a correction for calculating the stopping distance - it should use deceleration, not acceleration.
Tested in SITL.