From 48d0ad26a6efdeb95535d53693d50c87124098ba Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Sat, 13 Jan 2018 12:18:32 +0900 Subject: [PATCH] Copter: mode_land sends dt to sqrt controller --- ArduCopter/mode_land.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/mode_land.cpp b/ArduCopter/mode_land.cpp index c6d1f81961..4b14aa366a 100644 --- a/ArduCopter/mode_land.cpp +++ b/ArduCopter/mode_land.cpp @@ -184,7 +184,7 @@ void Copter::land_run_vertical_control(bool pause_descent) max_land_descent_velocity = MIN(max_land_descent_velocity, -abs(g.land_speed)); // Compute a vertical velocity demand such that the vehicle approaches LAND_START_ALT. Without the below constraint, this would cause the vehicle to hover at LAND_START_ALT. - cmb_rate = AC_AttitudeControl::sqrt_controller(LAND_START_ALT-alt_above_ground, g.p_alt_hold.kP(), pos_control->get_accel_z()); + cmb_rate = AC_AttitudeControl::sqrt_controller(LAND_START_ALT-alt_above_ground, g.p_alt_hold.kP(), pos_control->get_accel_z(), G_Dt); // Constrain the demanded vertical velocity so that it is between the configured maximum descent speed and the configured minimum descent speed. cmb_rate = constrain_float(cmb_rate, max_land_descent_velocity, -abs(g.land_speed));