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AC_WPNav: pass dt to avoidance

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Randy Mackay 2018-01-13 16:42:10 +09:00
parent f48b14b810
commit 094620bc8a
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_WPNav/AC_WPNav.cpp
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@ -302,7 +302,7 @@ void AC_WPNav::calc_loiter_desired_velocity(float nav_dt, float ekfGndSpdLimit)
// Limit the velocity to prevent fence violations
if (_avoid != nullptr) {
_avoid->adjust_velocity(_pos_control.get_pos_xy_kP(), _loiter_accel_cmss, desired_vel);
_avoid->adjust_velocity(_pos_control.get_pos_xy_kP(), _loiter_accel_cmss, desired_vel, nav_dt);
}
// send adjusted feed forward velocity back to position controller