From f51e657103580401a1ffb7e3e6f754dd8ccc5bca Mon Sep 17 00:00:00 2001
From: David St-Onge <david.st-onge@polymtl.ca>
Date: Tue, 31 Jan 2017 03:15:22 -0500
Subject: [PATCH] lj test

---
 src/buzzuav_closures.cpp | 4 ++--
 src/test1.bzz            | 3 +++
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/buzzuav_closures.cpp b/src/buzzuav_closures.cpp
index 6a4ed43..15d0b0f 100644
--- a/src/buzzuav_closures.cpp
+++ b/src/buzzuav_closures.cpp
@@ -115,8 +115,8 @@ int buzzuav_goto(buzzvm_t vm) {
    //buzzvm_type_assert(vm, 3, BUZZTYPE_FLOAT);
    buzzvm_type_assert(vm, 2, BUZZTYPE_FLOAT);
    buzzvm_type_assert(vm, 1, BUZZTYPE_FLOAT);
-   float dx = buzzvm_stack_at(vm, 1)->f.value;
-   float dy = buzzvm_stack_at(vm, 2)->f.value;
+   float dy = buzzvm_stack_at(vm, 1)->f.value;
+   float dx = buzzvm_stack_at(vm, 2)->f.value;
 //   float d = sqrt(dx*dx+dy*dy);
 //   float b = atan2(dy,dx);
    printf(" Vector for Goto: %.7f,%.7f\n",dx,dy);
diff --git a/src/test1.bzz b/src/test1.bzz
index 0471f22..be28813 100644
--- a/src/test1.bzz
+++ b/src/test1.bzz
@@ -98,6 +98,9 @@ neighbors.listen("cmd",
 		statef=land
 	}
    }
+   if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0)
+	statef=hexagon
+
 )
 }