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Rover: sailboats tack on fence #12117

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merged 1 commit into from Feb 4, 2020
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Rover: sailboats tack on fence #12117

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6 changes: 6 additions & 0 deletions APMrover2/mode.cpp
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Expand Up @@ -242,6 +242,12 @@ void Mode::calc_throttle(float target_speed, bool avoidance_enabled)
// apply object avoidance to desired speed using half vehicle's maximum deceleration
if (avoidance_enabled) {
g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_decel_max(), ahrs.yaw, target_speed, rover.G_Dt);
if (g2.sailboat.tack_enabled() && g2.avoid.limits_active()) {
// we are a sailboat trying to avoid fence, try a tack
if (rover.control_mode != &rover.mode_acro) {
rover.control_mode->handle_tack_request();
}
}
}

// call throttle controller and convert output to -100 to +100 range
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