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enable non-zero initial velocity in waypoint following #2

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Sep 18, 2024
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enable non-zero initial velocity in waypoint following #2

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6 changes: 6 additions & 0 deletions libraries/AR_WPNav/AR_WPNav.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -256,6 +256,12 @@ bool AR_WPNav::set_desired_location(const Location& destination, Location next_d
_pos_control.get_accel_max(), // vertical accel (not used)
AR_WPNAV_SNAP_MAX, // snap
_pos_control.get_jerk_max());

const auto curr_speed = AP::ahrs().groundspeed_vector().length();
if (!is_zero(curr_speed)) {
// rebuild start of scurve if we have a non-zero origin speed
_scurve_this_leg.set_origin_speed_max(curr_speed);
}
}

// handle next destination
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