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Rover: Better handling of stopped leader in Follow mode #30012

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Rover: Better handling of stopped leader in Follow mode #30012

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11 changes: 9 additions & 2 deletions Rover/mode_follow.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,8 +48,15 @@ void ModeFollow::update()
desired_velocity_ne.x = vel_of_target.x + (dist_vec_offs.x * kp);
desired_velocity_ne.y = vel_of_target.y + (dist_vec_offs.y * kp);

// if desired velocity is zero stop vehicle
if (is_zero(desired_velocity_ne.x) && is_zero(desired_velocity_ne.y)) {
// if the desired velocity is less than 3cm/sec, stop vehicle
if (desired_velocity_ne.length() < 0.03f) {
_reached_destination = true;
stop_vehicle();
return;
}

//if the target vehicle velocity is less than 3cm/sec and the distance to the target vehicle is less than the turn radius, stop vehicle
if (vel_of_target.length() < 0.03f && dist_vec_offs.length() < g2.turn_radius) {
_reached_destination = true;
stop_vehicle();
return;
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