From db87285153b2e0ba711900412d2bda67a36bea37 Mon Sep 17 00:00:00 2001
From: Peter Hall <33176108+IamPete1@users.noreply.github.com>
Date: Fri, 23 Aug 2019 11:49:06 +0100
Subject: [PATCH] AR_WPNav: add oa_wp_bearing_cd function

---
 libraries/AR_WPNav/AR_WPNav.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AR_WPNav/AR_WPNav.h b/libraries/AR_WPNav/AR_WPNav.h
index c4e5bcd1e8..8ea7f3622f 100644
--- a/libraries/AR_WPNav/AR_WPNav.h
+++ b/libraries/AR_WPNav/AR_WPNav.h
@@ -66,6 +66,9 @@ public:
     float nav_bearing_cd() const { return _desired_heading_cd; }
     float crosstrack_error() const { return _cross_track_error; }
 
+    // return the heading (in centi-degrees) to the next waypoint accounting for OA, (used by sailboats)
+    float oa_wp_bearing_cd() const { return _oa_wp_bearing_cd; }
+
     // settor to allow vehicle code to provide turn related param values to this library (should be updated regularly)
     void set_turn_params(float turn_max_g, float turn_radius, bool pivot_possible);