From be500723cd3938260ddce577d54d1ed911d48e7e Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Wed, 22 Mar 2017 11:55:36 +0100
Subject: [PATCH] mc_pos_control: gradual vel fix for slope

---
 src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 +-
 1 file changed, 1 insertion(+), 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
index 2ddbf97f74..d5d5b45621 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -923,7 +923,7 @@ MulticopterPositionControl::limit_vel_xy_gradually()
 	 * with x= (curr_sp - pos) and y = _vel_sp with min limit of 0.01
 	 */
 	math::Vector<3> dist = _curr_pos_sp - _pos;
-	float slope = get_cruising_speed_xy()  / _target_threshold_xy.get();
+	float slope = (get_cruising_speed_xy() - 0.01f)  / _target_threshold_xy.get();
 	float vel_limit =  slope * sqrtf(dist(0) * dist(0) + dist(1) * dist(1)) + 0.01f;
 	float vel_mag_xy = sqrtf(_vel_sp(0) * _vel_sp(0) + _vel_sp(1) * _vel_sp(1));
 
-- 
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