mc_pos_control: set default correctly if vel_sp_xy is zero

PX4 · Mar 30, 2017 · 7c712ac · 7c712ac
1 parent d04acf1
commit 7c712ac
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1382,7 +1382,7 @@ MulticopterPositionControl::vel_sp_slewrate(float dt)
 		acc_limit = _acceleration_hor_manual.get();
 
 		/* get normalized direction */
-		matrix::Vector2f vel_sp_xy_norm = (vel_sp_xy.length() > 0.0f) ? vel_sp_xy.normalized() : vel_sp_xy_norm;
+		matrix::Vector2f vel_sp_xy_norm = (vel_sp_xy.length() > 0.0f) ? vel_sp_xy.normalized() : vel_sp_xy;
 		matrix::Vector2f vel_xy_norm = (vel_xy.length() > 0.0f) ? vel_xy.normalized() : vel_xy;
 
 		/* check if deceleration is required */