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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-17 13:41:14 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-17 13:41:14 +0100 |
| commit | fefaab91cf3a67a9d2f66e94fdb2708709635095 (patch) | |
| tree | 6c8881d52e8333c4d6883c434cbd7b15af66c428 /src/lib | |
| parent | 74a7d9693dea54267f206c10649e759548ade631 (diff) | |
| download | px4-firmware-fefaab91cf3a67a9d2f66e94fdb2708709635095.tar.gz px4-firmware-fefaab91cf3a67a9d2f66e94fdb2708709635095.tar.bz2 px4-firmware-fefaab91cf3a67a9d2f66e94fdb2708709635095.zip | |
l1: change a max to min in wp switch-distance calculation
Diffstat (limited to 'src/lib')
| -rw-r--r-- | src/lib/ecl/l1/ecl_l1_pos_controller.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp index 27d76f959..31d7cecb7 100644 --- a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp +++ b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp @@ -70,7 +70,7 @@ float ECL_L1_Pos_Controller::target_bearing() float ECL_L1_Pos_Controller::switch_distance(float wp_radius) { /* following [2], switching on L1 distance */ - return math::max(wp_radius, _L1_distance); + return math::min(wp_radius, _L1_distance); } bool ECL_L1_Pos_Controller::reached_loiter_target(void) |