AC_WPNav: ACCEL_C defaults to 2x ACCEL

ArduPilot · Jan 8, 2024 · 0cf6160 · 0cf6160
1 parent 3a37796
commit 0cf6160
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -94,7 +94,7 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] = {
 
     // @Param: ACCEL_C
     // @DisplayName: Waypoint Cornering Acceleration
-    // @Description: Defines the maximum cornering acceleration in cm/s/s used during missions, zero uses max lean angle.
+    // @Description: Defines the maximum cornering acceleration in cm/s/s used during missions.  If zero uses 2x accel value.
     // @Units: cm/s/s
     // @Range: 0 500
     // @Increment: 10

diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
@@ -87,8 +87,8 @@ class AC_WPNav
     /// get_wp_acceleration - returns acceleration in cm/s/s during missions
     float get_wp_acceleration() const { return (is_positive(_wp_accel_cmss)) ? _wp_accel_cmss : WPNAV_ACCELERATION; }
 
-    /// get_wp_acceleration - returns acceleration in cm/s/s during missions
-    float get_corner_acceleration() const { return (is_positive(_wp_accel_c_cmss)) ? _wp_accel_c_cmss : get_wp_acceleration(); }
+    /// get_corner_acceleration - returns maximum acceleration in cm/s/s used during cornering in missions
+    float get_corner_acceleration() const { return (is_positive(_wp_accel_c_cmss)) ? _wp_accel_c_cmss : 2.0 * get_wp_acceleration(); }
 
     /// get_wp_destination waypoint using position vector
     /// x,y are distance from ekf origin in cm