From dca72ba6eefbda45060cbfb4033dacd64fd14403 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 21 Nov 2013 10:47:02 +0100 Subject: [PATCH] L1_pos_controller: Fixed strange bitwise or --- src/lib/ecl/l1/ecl_l1_pos_controller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp index 31d7cecb7b..11def23710 100644 --- a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp +++ b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp @@ -280,7 +280,7 @@ void ECL_L1_Pos_Controller::navigate_loiter(const math::Vector2f &vector_A, cons */ // XXX check switch over - if ((lateral_accel_sp_center < lateral_accel_sp_circle && loiter_direction > 0 && xtrack_err_circle > 0.0f) | + if ((lateral_accel_sp_center < lateral_accel_sp_circle && loiter_direction > 0 && xtrack_err_circle > 0.0f) || (lateral_accel_sp_center > lateral_accel_sp_circle && loiter_direction < 0 && xtrack_err_circle > 0.0f)) { _lateral_accel = lateral_accel_sp_center; _circle_mode = false;