From fcde1e7370cbca047d82f1acd502e7a235717cc5 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Mon, 21 Jun 2021 19:15:30 +0930 Subject: [PATCH] AC_WPNav: use shaping_tc_z_s for terrain following time constant. --- 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 c5057fc1d6..bb93552a64 100644 --- a/libraries/AC_WPNav/AC_WPNav.cpp +++ b/libraries/AC_WPNav/AC_WPNav.cpp @@ -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);