Refactor HDG controller usages

src/main/fc/runtime_config.h

@@ -123,6 +123,7 @@ typedef enum {
     NAV_EXTRA_ARMING_SAFETY_BYPASSED    = (1 << 14),    // nav_extra_arming_safey was bypassed. Keep it until power cycle.
     AIRMODE_ACTIVE                      = (1 << 15),
     ESC_SENSOR_ENABLED                  = (1 << 16),
+    FW_HEADING_USE_YAW                  = (1 << 17),
 } stateFlags_t;
 
 #define DISABLE_STATE(mask) (stateFlags &= ~(mask))

src/main/flight/mixer.c

@@ -140,11 +140,14 @@ bool mixerIsOutputSaturated(void)
 
 void mixerUpdateStateFlags(void)
 {
-    // set flag that we're on something with wings
+    // set flag that we're on something with wings or a land/water vehicle
-    if (mixerConfig()->platformType == PLATFORM_AIRPLANE) {
+    if (
-        ENABLE_STATE(FIXED_WING);
+        mixerConfig()->platformType == PLATFORM_AIRPLANE ||
-    } else if (mixerConfig()->platformType == PLATFORM_HELICOPTER) {
+        mixerConfig()->platformType == PLATFORM_ROVER ||
-        DISABLE_STATE(FIXED_WING);
+        mixerConfig()->platformType == PLATFORM_BOAT ||
+        mixerConfig()->platformType == PLATFORM_OTHER
+    ) {
+        ENABLE_STATE(FIXED_WING); //This is not entirely true, but much closer to reality than not using FIXED_WING mode
     } else {
         DISABLE_STATE(FIXED_WING);
     }

src/main/flight/pid.c

@@ -1062,10 +1062,12 @@ void pidInit(void)
     }
 
     if (pidProfile()->pidControllerType == PID_TYPE_AUTO) {
-        if (mixerConfig()->platformType == PLATFORM_AIRPLANE) {
+        if (mixerConfig()->platformType == PLATFORM_MULTIROTOR || 
-            usedPidControllerType = PID_TYPE_PIFF;
+            mixerConfig()->platformType == PLATFORM_TRICOPTER || 
-        } else {
+            mixerConfig()->platformType == PLATFORM_HELICOPTER) {
             usedPidControllerType = PID_TYPE_PID;
+        } else {
+            usedPidControllerType = PID_TYPE_PIFF;
         }
     } else {
         usedPidControllerType = pidProfile()->pidControllerType;

src/main/navigation/navigation.c

@@ -3250,6 +3250,16 @@ void navigationInit(void)
 
     /* Use system config */
     navigationUsePIDs();
+
+    if (
+        mixerConfig()->platformType == PLATFORM_BOAT ||
+        mixerConfig()->platformType == PLATFORM_ROVER ||
+        navConfig()->fw.useFwNavYawControl
+    ) {
+        ENABLE_STATE(FW_HEADING_USE_YAW);
+    } else {
+        DISABLE_STATE(FW_HEADING_USE_YAW);
+    }
 }
 
 /*-----------------------------------------------------------

src/main/navigation/navigation_fixedwing.c

@@ -346,7 +346,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
      * Yaw adjustment
      * It is working in relative mode and we aim to keep error at zero
      */
-    if (navConfig()->fw.useFwNavYawControl) {
+    if (STATE(FW_HEADING_USE_YAW)) {
 
         static float limit = 0.0f;