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AC_WPNav: use shaping_tc_z_s for terrain following time constant.

This commit is contained in:
Leonard Hall 2021-06-21 19:15:30 +09:30 committed by Andrew Tridgell
parent 68b882d404
commit e21b8a5b29
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_WPNav/AC_WPNav.cpp
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@ -469,7 +469,7 @@ bool AC_WPNav::advance_wp_target_along_track(float dt)
shape_pos_vel_accel(terr_offset, 0.0f, 0.0f,
_pos_terrain_offset, _vel_terrain_offset, _accel_terrain_offset,
0.0f, _pos_control.get_max_speed_down_cms(), _pos_control.get_max_speed_up_cms(),
-_pos_control.get_max_accel_z_cmss(), _pos_control.get_max_accel_z_cmss(), 0.05f, dt);
-_pos_control.get_max_accel_z_cmss(), _pos_control.get_max_accel_z_cmss(), _pos_control.get_shaping_tc_z_s(), dt);
update_pos_vel_accel(_pos_terrain_offset, _vel_terrain_offset, _accel_terrain_offset, dt, 0.0f);