From ed298363f4c5c45b186c63ed8330ef90502acc28 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 18 Apr 2013 22:31:44 +0900
Subject: [PATCH] AC_WPNav: remove unnecessary limit in leash calc

---
 libraries/AC_WPNav/AC_WPNav.cpp | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index cc8b4fa034..b2512d76bc 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -461,9 +461,6 @@ void AC_WPNav::calculate_leash_length(bool climb)
 
     // get loiter position P
     float kP = _pid_pos_lat->kP();
-    if(kP <= 0.51) {
-        kP = 0.51;
-    }
 
     // calculate horiztonal leash length
     if(_speed_xy_cms <= MAX_LOITER_POS_ACCEL / kP) {