Copter: accept do-winch commands with max rate

7 years ago · 842eed5426
1 changed files with 1 additions and 1 deletions
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@ -1217,7 +1217,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
				@@ -1217,7 +1217,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
                        break;
                    }
                    case WINCH_RATE_CONTROL: {
-                        if (fabsf(packet.param4) < copter.g2.winch.get_rate_max()) {
+                        if (fabsf(packet.param4) <= copter.g2.winch.get_rate_max()) {
                            copter.g2.winch.set_desired_rate(packet.param4);
                            copter.Log_Write_Event(DATA_WINCH_RATE_CONTROL);
                        } else {