diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c index 26f523c895..7207a01cef 100755 --- a/src/main/navigation/navigation_fixedwing.c +++ b/src/main/navigation/navigation_fixedwing.c @@ -394,12 +394,13 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta static int32_t previousHeadingError; static bool errorIsDecreasing; static bool forceTurnDirection = false; + int32_t virtualTargetBearing; if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) { virtualTargetBearing = posControl.desiredState.yaw; } else { // We have virtual position target, calculate heading error - int32_t virtualTargetBearing = calculateBearingToDestination(&virtualDesiredPosition); + virtualTargetBearing = calculateBearingToDestination(&virtualDesiredPosition); } /* If waypoint tracking enabled quickly force craft toward waypoint course line and closely track along it */