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l1: change a max to min in wp switch-distance calculation

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Thomas Gubler
2013-11-17 13:41:14 +01:00
parent 74a7d9693d
commit fefaab91cf
1 changed files with 1 additions and 1 deletions
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src/lib/ecl/l1/ecl_l1_pos_controller.cpp
+1 -1
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@@ -70,7 +70,7 @@ float ECL_L1_Pos_Controller::target_bearing()
float ECL_L1_Pos_Controller::switch_distance(float wp_radius) float ECL_L1_Pos_Controller::switch_distance(float wp_radius)
{ {
/* following [2], switching on L1 distance */ /* 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) bool ECL_L1_Pos_Controller::reached_loiter_target(void)