From aad2f883d67effba391fddfeefe5b35f58747958 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 20 Jul 2021 14:00:20 +0900
Subject: [PATCH] AC_WPNav: use get_terrain_margin instead of constant

---
 libraries/AC_WPNav/AC_WPNav.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index a942df3c03..d80e2007dd 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -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);