From 82aba6fe56ba143f5600b6a470e5805c1a562a41 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 7 Jul 2018 16:38:16 +0900
Subject: [PATCH] Rover: guided heading-and-speed control slows using yaw error

---
 APMrover2/mode_guided.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/APMrover2/mode_guided.cpp b/APMrover2/mode_guided.cpp
index f65e124e90..335e422d06 100644
--- a/APMrover2/mode_guided.cpp
+++ b/APMrover2/mode_guided.cpp
@@ -47,7 +47,7 @@ void ModeGuided::update()
             if (have_attitude_target) {
                 // run steering and throttle controllers
                 calc_steering_to_heading(_desired_yaw_cd, _desired_speed < 0);
-                calc_throttle(_desired_speed, true, true);
+                calc_throttle(calc_reduced_speed_for_turn_or_distance(_desired_speed), true, true);
             } else {
                 stop_vehicle();
             }