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Add missing code

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breadoven 2022-11-29 14:08:05 +00:00
parent 35c267b15c
commit 1015e19c81
1 changed files with 4 additions and 0 deletions
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4
src/main/navigation/navigation_fixedwing.c
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@ -394,6 +394,10 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
// We have virtual position target, calculate heading error // We have virtual position target, calculate heading error
int32_t virtualTargetBearing = calculateBearingToDestination(&virtualDesiredPosition); int32_t virtualTargetBearing = calculateBearingToDestination(&virtualDesiredPosition);
if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
virtualTargetBearing = posControl.desiredState.yaw;
}
/* If waypoint tracking enabled quickly force craft toward waypoint course line and closely track along it */ /* If waypoint tracking enabled quickly force craft toward waypoint course line and closely track along it */
if (navConfig()->fw.wp_tracking_accuracy && isWaypointNavTrackingActive() && !needToCalculateCircularLoiter) { if (navConfig()->fw.wp_tracking_accuracy && isWaypointNavTrackingActive() && !needToCalculateCircularLoiter) {
// courseVirtualCorrection initially used to determine current position relative to course line for later use // courseVirtualCorrection initially used to determine current position relative to course line for later use