Copter: Use GRAVITY_MSS

ArduPilot · Nov 11, 2024 · da69e22 · da69e22
1 parent 8a5556c
commit da69e22
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
@@ -588,7 +588,7 @@ void ModePosHold::update_wind_comp_estimate()
     }
 
     // limit acceleration
-    const float accel_lim_cmss = tanf(radians(POSHOLD_WIND_COMP_LEAN_PCT_MAX * copter.aparm.angle_max * 0.01f)) * 981.0f;
+    const float accel_lim_cmss = tanf(radians(POSHOLD_WIND_COMP_LEAN_PCT_MAX * copter.aparm.angle_max * 0.01f)) * (GRAVITY_MSS*100);
     const float wind_comp_ef_len = wind_comp_ef.length();
     if (!is_zero(accel_lim_cmss) && (wind_comp_ef_len > accel_lim_cmss)) {
         wind_comp_ef *= accel_lim_cmss / wind_comp_ef_len;