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Added minimum speed for RTL

This commit is contained in:
Jason Short 2012-07-20 13:27:10 -07:00
parent fcd0e12a1e
commit 1d085c8cf4
1 changed files with 1 additions and 1 deletions
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ArduCopter/navigation.pde
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@ -262,7 +262,7 @@ static int16_t get_desired_speed(int16_t max_speed, bool _slow)
// max_speed is default 600 or 6m/s // max_speed is default 600 or 6m/s
if(_slow){ if(_slow){
max_speed = min(max_speed, wp_distance / 4); max_speed = min(max_speed, wp_distance / 4);
max_speed = max(max_speed, 0); max_speed = max(max_speed, 100);
}else{ }else{
max_speed = min(max_speed, wp_distance / 2); max_speed = min(max_speed, wp_distance / 2);
max_speed = max(max_speed, WAYPOINT_SPEED_MIN); // go at least 100cm/s max_speed = max(max_speed, WAYPOINT_SPEED_MIN); // go at least 100cm/s