From b9d5189fe5b9e0b08e533e6b8a237a799f7d7d0b Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Mon, 28 May 2018 09:40:35 +0200
Subject: [PATCH] ManualSmoothing: direction change with maximum acceleration

---
 src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
index 9da34eff3a..62af64e033 100644
--- a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
@@ -174,8 +174,7 @@ ManualSmoothingXY::_setStateAcceleration(const matrix::Vector2f &vel_sp, const m
 			// Because previous setpoint is equal to current setpoint,
 			// slewrate will have no effect. Nonetheless, just set
 			// acceleration to maximum.
-			_acc_state_dependent = _acc_xy_max.get();
-
+			_acc_state_dependent = _acc_hover.get();
 			break;
 		}