From ba5e36817517d95ff60ecb5bd37aa2fa741b2f11 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 21 Oct 2014 22:09:42 +0900 Subject: [PATCH] AC_WPNav: bug fix sanity check of set_speed_xy This corrects a bug that allowed the waypoint speed to be set to zero --- libraries/AC_WPNav/AC_WPNav.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp index 3fd32c0d0d..dee9690c66 100644 --- a/libraries/AC_WPNav/AC_WPNav.cpp +++ b/libraries/AC_WPNav/AC_WPNav.cpp @@ -341,7 +341,7 @@ void AC_WPNav::wp_and_spline_init() void AC_WPNav::set_speed_xy(float speed_cms) { // range check new target speed and update position controller - if (_wp_speed_cms >= WPNAV_WP_SPEED_MIN) { + if (speed_cms >= WPNAV_WP_SPEED_MIN) { _wp_speed_cms = speed_cms; _pos_control.set_speed_xy(_wp_speed_cms); // flag that wp leash must be recalculated