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AC_WPNav: use get_terrain_margin instead of constant

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This commit is contained in:
Randy Mackay 2021-07-20 14:00:20 +09:00
parent c737e0cc47
commit aad2f883d6
1 changed files with 1 additions and 2 deletions
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3
libraries/AC_WPNav/AC_WPNav.cpp
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@ -438,8 +438,7 @@ bool AC_WPNav::advance_wp_target_along_track(float dt)
if (_terrain_alt && !get_terrain_offset(terr_offset)) {
return false;
}
float pos_offset_z_buffer = 1000.0;
const float offset_z_scaler = _pos_control.pos_offset_z_scaler(terr_offset, pos_offset_z_buffer);
const float offset_z_scaler = _pos_control.pos_offset_z_scaler(terr_offset, get_terrain_margin() * 100.0);
// input shape the terrain offset
_pos_control.update_pos_offset_z(terr_offset);