AC_WPNav: advance_spline to use dt

2014-03-30 15:00:39 +09:00 · 2014-03-30 15:00:39 +09:00 · 7dfde39e19
commit 7dfde39e19
parent c0458b786a
1 changed files with 1 additions and 1 deletions
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@ -714,7 +714,7 @@ void AC_WPNav::advance_spline_target_along_track(float dt)
        _yaw = RadiansToCentiDegrees(atan2(target_vel.y,target_vel.x));

        // advance spline time to next step
-        _spline_time += spline_time_scale*0.1f;
+        _spline_time += spline_time_scale*dt;

        // we will reach the next waypoint in the next step so set reached_destination flag
        // To-Do: is this one step too early?