From 50175ca7eafd4b1fa46771cde96cb282dc9b7e32 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Fri, 22 Jul 2016 12:32:03 +0200
Subject: [PATCH] manual condition includes threshold values

---
 src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 31c6a12877..dc6e75f63f 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -1944,8 +1944,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 		}
 
-		if (!_yaw_lock_engaged || fabsf(_manual.y) > HDG_HOLD_MAN_INPUT_THRESH ||
-		    fabsf(_manual.r) > HDG_HOLD_MAN_INPUT_THRESH) {
+		if (!_yaw_lock_engaged || fabsf(_manual.y) >= HDG_HOLD_MAN_INPUT_THRESH ||
+		    fabsf(_manual.r) >= HDG_HOLD_MAN_INPUT_THRESH) {
 			_hdg_hold_enabled = false;
 			_yaw_lock_engaged = false;
 			_att_sp.roll_body = _manual.y * _parameters.man_roll_max_rad;