VelocitySmoothing library fixes #19
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Make functions synonymous with the PX4 Upstream library
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Description
Make functions synonymous with the
https://github.com/PX4/PX4-Autopilot/blob/37fa4bccb638410734e077ef18c3c9c0ecd117c4/src/lib/motion_planning/VelocitySmoothing.hpp
Main Changes
updatefunction, which was only constraining velocity setpointQuestions
It seems like this PR broke the internal state 'X' integration (it flattens out even when velocity setpoint is 0 🤔). Can't figure out now why this change has been introduced. Ideas? @bresch
Before the Change
After the Change (this PR)
Does it make sense to call the "updateDurations" every loop? Even in the upstream implementation, since it ALWAYS resets the internally tracked time