From 03c162432e377acf1c28eed918ba30931225b643 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 3 Feb 2018 11:57:13 +0900 Subject: [PATCH] Plane: quadplane provides dt to AC_WPNav::set_pilot_desired_acceleration --- ArduPlane/quadplane.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 329028ccd9..179d733697 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -946,7 +946,8 @@ void QuadPlane::control_loiter() // process pilot's roll and pitch input wp_nav->set_pilot_desired_acceleration(plane.channel_roll->get_control_in(), - plane.channel_pitch->get_control_in()); + plane.channel_pitch->get_control_in(), + plane.G_Dt); // Update EKF speed limit - used to limit speed when we are using optical flow float ekfGndSpdLimit, ekfNavVelGainScaler;