From 09697827cc180ca89a7b9a7ec7333b94dc3a3cdc Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Sun, 5 Dec 2021 15:25:15 +1030 Subject: [PATCH] AC_WPNav: Support error input to kinematic shaper --- libraries/AC_WPNav/AC_WPNav.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp index ffaf35f2cd..f79b9f8539 100644 --- a/libraries/AC_WPNav/AC_WPNav.cpp +++ b/libraries/AC_WPNav/AC_WPNav.cpp @@ -475,7 +475,7 @@ bool AC_WPNav::advance_wp_target_along_track(float dt) float vel_time_scalar = 1.0; if (is_positive(_wp_desired_speed_xy_cms)) { - update_vel_accel(_terrain_vel, _terrain_accel, dt, false); + update_vel_accel(_terrain_vel, _terrain_accel, dt, 0.0, 0.0); shape_vel_accel( _wp_desired_speed_xy_cms * offset_z_scaler, 0.0, _terrain_vel, _terrain_accel, -_wp_accel_cmss, _wp_accel_cmss, _pos_control.get_shaping_jerk_xy_cmsss(), dt, true);