From 01a8cec3482eac96bcda06db4d3f4f89f2f2db93 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sat, 16 Jul 2011 22:02:47 +0000
Subject: [PATCH] tweaked WP speed so long distances wont blow up equation.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2871 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/navigation.pde | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/ArduCopterMega/navigation.pde b/ArduCopterMega/navigation.pde
index 5e84db1087..6d2d39f410 100644
--- a/ArduCopterMega/navigation.pde
+++ b/ArduCopterMega/navigation.pde
@@ -149,8 +149,9 @@ void calc_rate_nav()
 
 	// Reduce speed on RTL
 	//if(control_mode == RTL){
-		waypoint_speed 		= min((wp_distance * 100), g.waypoint_speed_max.get());
-		waypoint_speed		= max(waypoint_speed, 80);
+	int tmp 			= min(wp_distance, 50) * 100;
+	waypoint_speed 		= min(tmp, g.waypoint_speed_max.get());
+	waypoint_speed		= max(waypoint_speed, 80);
 	//}else{
 	//	waypoint_speed 		= g.waypoint_speed_max.get();
 	//}