From fefaab91cf3a67a9d2f66e94fdb2708709635095 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 17 Nov 2013 13:41:14 +0100 Subject: l1: change a max to min in wp switch-distance calculation --- src/lib/ecl/l1/ecl_l1_pos_controller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/lib') 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) -- cgit v1.2.3