From 3d250b3b831c641c240dff59440a8451f5a568b0 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Wed, 22 Aug 2018 11:57:47 +0200
Subject: [PATCH] FlightTaskAutoLine: don't update yaw if waypoints are too
 close together

---
 src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp b/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp
index 178df74117..96274ebb5a 100644
--- a/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp
+++ b/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp
@@ -56,12 +56,8 @@ void FlightTaskAutoLine::_generateSetpoints()
 void FlightTaskAutoLine::_generateHeadingAlongTrack()
 {
 	Vector2f prev_to_dest = Vector2f(&(_target - _prev_wp)(0));
+	_compute_heading_from_2D_vector(_yaw_setpoint, prev_to_dest);
 
-	if (!_compute_heading_from_2D_vector(_yaw_setpoint, prev_to_dest)) {
-		// heading could not be computed. best we can do is to set heading
-		// to current yaw
-		_yaw_setpoint = _yaw;
-	}
 }
 
 void FlightTaskAutoLine::_generateXYsetpoints()