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Update navigation_fixedwing.c

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This commit is contained in:
breadoven 2022-12-19 00:28:08 +00:00
parent e7f9f6e135
commit d86ff58c94
1 changed files with 2 additions and 1 deletions
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3
src/main/navigation/navigation_fixedwing.c
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@ -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 */