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small change to RTL to prevent negative effects from flying backwards. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2981 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-07-31 19:41:11 +00:00
parent f096d8cb23
commit b2a47c01a7
1 changed files with 1 additions and 0 deletions
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ArduCopterMega/navigation.pde
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@ -146,6 +146,7 @@ static void calc_rate_nav(int speed)
// calc the cos of the error to tell how fast we are moving towards the target in cm // calc the cos of the error to tell how fast we are moving towards the target in cm
int groundspeed = (float)g_gps->ground_speed * cos(radians((float)target_error/100)); int groundspeed = (float)g_gps->ground_speed * cos(radians((float)target_error/100));
groundspeed = max(groundspeed, 0);
// Reduce speed on RTL // Reduce speed on RTL
if(control_mode == RTL){ if(control_mode == RTL){