From 842eed54265c32e7a72124161c56d808f1908c63 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 26 Oct 2017 21:07:24 +0900
Subject: [PATCH] Copter: accept do-winch commands with max rate

---
 ArduCopter/GCS_Mavlink.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 2d387f5dc9..84d8fa38e0 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1217,7 +1217,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
                         break;
                     }
                     case WINCH_RATE_CONTROL: {
-                        if (fabsf(packet.param4) < copter.g2.winch.get_rate_max()) {
+                        if (fabsf(packet.param4) <= copter.g2.winch.get_rate_max()) {
                             copter.g2.winch.set_desired_rate(packet.param4);
                             copter.Log_Write_Event(DATA_WINCH_RATE_CONTROL);
                         } else {