From fff56c4720daf9de4273f8fecc6a1c0e72651f03 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 11 Jul 2013 11:33:06 +0900
Subject: [PATCH] WPNav: stopping point projection uses wp_leash
---
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 02b4d35c6..819c46c5e 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -137,7 +137,7 @@ void AC_WPNav::get_stopping_point(const Vector3f& position, const Vector3f& velo
linear_distance = _wp_accel_cms/(2.0f*kP*kP);
target_dist = linear_distance + (vel_total*vel_total)/(2.0f*_wp_accel_cms);
}
- target_dist = constrain_float(target_dist, 0, _loiter_leash*2.0f);
+ target_dist = constrain_float(target_dist, 0, _wp_leash_xy*2.0f);
target.x = position.x + (target_dist * velocity.x / vel_total);
target.y = position.y + (target_dist * velocity.y / vel_total);
--
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