diff --git a/libraries/AP_Landing/AP_Landing_Slope.cpp b/libraries/AP_Landing/AP_Landing_Slope.cpp index 9f6e15dcee..7db547a5b7 100644 --- a/libraries/AP_Landing/AP_Landing_Slope.cpp +++ b/libraries/AP_Landing/AP_Landing_Slope.cpp @@ -371,8 +371,8 @@ int32_t AP_Landing::type_slope_get_target_airspeed_cm(void) // when landing, add half of head-wind. const int32_t head_wind_compensation_cm = head_wind() * 0.5f * 100; - // Do not lower it or exceed cruise speed - return constrain_int32(target_airspeed_cm + head_wind_compensation_cm, target_airspeed_cm, aparm.airspeed_cruise_cm); + // Do not lower it or exceed max airspeed `ARSPD_FBW_MAX` + return constrain_int32(target_airspeed_cm + head_wind_compensation_cm, target_airspeed_cm, aparm.airspeed_max*100); } int32_t AP_Landing::type_slope_constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd)