From ffac134014f5abe36f4e2ccc253865a4c67969a9 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 12 Sep 2021 15:31:45 +0100
Subject: [PATCH] AC_PosControl: protect against negative angle max

---
 libraries/AC_AttitudeControl/AC_PosControl.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 365aa687e2..ab63c43ef5 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -1032,7 +1032,7 @@ void AC_PosControl::update_z_controller()
 /// get_lean_angle_max_cd - returns the maximum lean angle the autopilot may request
 float AC_PosControl::get_lean_angle_max_cd() const
 {
-    if (is_zero(_lean_angle_max)) {
+    if (!is_positive(_lean_angle_max)) {
         return _attitude_control.lean_angle_max_cd();
     }
     return _lean_angle_max * 100.0f;