mirror of https://github.com/ArduPilot/ardupilot
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
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@ -149,8 +149,9 @@ void calc_rate_nav()
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// Reduce speed on RTL
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//if(control_mode == RTL){
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waypoint_speed = min((wp_distance * 100), g.waypoint_speed_max.get());
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waypoint_speed = max(waypoint_speed, 80);
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int tmp = min(wp_distance, 50) * 100;
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waypoint_speed = min(tmp, g.waypoint_speed_max.get());
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waypoint_speed = max(waypoint_speed, 80);
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//}else{
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// waypoint_speed = g.waypoint_speed_max.get();
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//}
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