From 5ab2a19173da1f04c65e457a6f66d08a079fb281 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Sun, 28 Jun 2015 16:17:17 +0900
Subject: [PATCH] AC_WPNav: loiter limits lean angle for alt loss

---
 libraries/AC_WPNav/AC_Circle.cpp | 2 +-
 libraries/AC_WPNav/AC_WPNav.cpp  | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp
index 2249bd2713..05ab94f802 100644
--- a/libraries/AC_WPNav/AC_Circle.cpp
+++ b/libraries/AC_WPNav/AC_Circle.cpp
@@ -162,7 +162,7 @@ void AC_Circle::update()
         }
 
         // update position controller
-        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f);
+        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f, false);
     }
 }
 
diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index 93bc9e200f..e0a9a8d8f8 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -328,7 +328,7 @@ void AC_WPNav::update_loiter(float ekfGndSpdLimit, float ekfNavVelGainScaler)
             dt = 0.0f;
         }
         calc_loiter_desired_velocity(dt,ekfGndSpdLimit);
-        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_LIMITED_AND_VEL_FF, ekfNavVelGainScaler);
+        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_LIMITED_AND_VEL_FF, ekfNavVelGainScaler, true);
     }
 }
 
@@ -363,7 +363,7 @@ void AC_WPNav::update_brake(float ekfGndSpdLimit, float ekfNavVelGainScaler)
 
         // send adjusted feed forward velocity back to position controller
         _pos_control.set_desired_velocity_xy(0,0);
-        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_LIMITED_AND_VEL_FF, ekfNavVelGainScaler);
+        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_LIMITED_AND_VEL_FF, ekfNavVelGainScaler, false);
     }
 }
 
@@ -675,7 +675,7 @@ void AC_WPNav::update_wpnav()
         }
         _pos_control.freeze_ff_z();
 
-        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f);
+        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f, false);
         check_wp_leash_length();
 
         _wp_last_update = hal.scheduler->millis();
@@ -890,7 +890,7 @@ void AC_WPNav::update_spline()
         _pos_control.freeze_ff_z();
 
         // run horizontal position controller
-        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f);
+        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f, false);
 
         _wp_last_update = hal.scheduler->millis();
     }