Hello,
I don’t understand the wiki description:
“Waypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)”
What does mean vehicle stop ?
I join the question.
What does it all mean?
( WPNAV_TER_MARGIN = 10) Rangefinder will stop working after or before 10m altitude (default). Or what does “stop” mean?
Can you explain clearly?
I have done some digging into the code (Copter, actually).
Basically, the “terrain margin” is used to stop the UAV from moving in XY-plane when the difference in Z-axis is greater than the WP_TER_MARGIN (and possibly the Q_WP_TER_MARGIN). This gives some time for the PSC_Z to climb the UAV to be within the margin.
I hope this helps!