From 7c068e47abe83e3c64a5cdfde24f22296f5d1205 Mon Sep 17 00:00:00 2001
From: MaEtUgR <maetugr@gmail.com>
Date: Thu, 12 Jul 2018 11:48:04 +0200
Subject: [PATCH] FlightTaskOrbit: fix acceleration limit inverting velocity

The formula only calculated the absolute value of the velocity and
the sign (rotation direction) got lost in that case.
---
 src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp b/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
index 0cc92c2884..7129af4218 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
@@ -60,9 +60,9 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
 bool FlightTaskOrbit::setRadius(const float r)
 {
 	if (math::isInRange(r, _radius_min, _radius_max)) {
-		// radius is more important than velocity for safety
+		// small radius is more important than high velocity for safety
 		if (!checkAcceleration(r, _v, _acceleration_max)) {
-			_v = sqrtf(_acceleration_max * r);
+			_v = math::sign(_v) * sqrtf(_acceleration_max * r);
 		}
 
 		_r = r;