From 370371767f32de3d5ec46943be5100128e03b7ad Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@yuneecresearch.com>
Date: Thu, 29 Nov 2018 09:55:18 +0100
Subject: [PATCH] FlightTaskAutoLine: ensure that desired speed along track
 does not exceed maximum speed at threshold to target

---
 src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp b/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp
index 4d2bdf9d72..b06e6e5956 100644
--- a/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp
+++ b/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp
@@ -155,6 +155,9 @@ void FlightTaskAutoLine::_generateXYsetpoints()
 				// accelerate towards target
 				speed_sp_track = acc_max * _deltatime + speed_sp_prev_track;
 			}
+
+			// ensure that desired speed does not exceed speed at threshold
+			speed_sp_track = math::min(speed_threshold, speed_sp_track);
 		}
 
 		speed_sp_track = math::constrain(speed_sp_track, 0.0f, _mc_cruise_speed);