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ArduPlane: fix quadplane stopping speed equation #29712

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2 changes: 1 addition & 1 deletion ArduPlane/quadplane.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -2530,7 +2530,7 @@ void QuadPlane::vtol_position_controller(void)
// calculate speed we should be at to reach the position2
// target speed at the position2 distance threshold, assuming
// Q_TRANS_DECEL is correct
const float stopping_speed = safe_sqrt(MAX(0, distance-position2_dist_threshold) * 2 * transition_decel) + position2_target_speed;
const float stopping_speed = safe_sqrt(MAX(0, distance-position2_dist_threshold) * 2 * transition_decel + sq(position2_target_speed));

float target_speed = stopping_speed;

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