Tracker: restore scan mode functionality

AntennaTracker/control_auto.cpp

@@ -10,11 +10,6 @@
  */
 void Tracker::update_auto(void)
 {
-    // exit immediately if we do not have a valid vehicle position
-    if (!vehicle.location_valid) {
-        return;
-    }
-
     float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100); // target yaw in centidegrees
     float pitch = constrain_float(nav_status.pitch+g.pitch_trim, g.pitch_min, g.pitch_max) * 100; // target pitch in centidegrees
 
@@ -26,8 +21,8 @@ void Tracker::update_auto(void)
     float bf_yaw;
     convert_ef_to_bf(pitch, yaw, bf_pitch, bf_yaw);
 
-    // only move servos if target is at least distance_min away
-    if ((g.distance_min <= 0) || (nav_status.distance >= g.distance_min)) {
+    // only move servos if target is at least distance_min away if we  have a target
+    if ((g.distance_min <= 0) || (nav_status.distance >= g.distance_min) || !vehicle.location_valid) {
         update_pitch_servo(bf_pitch);
         update_yaw_servo(bf_yaw);
     }

AntennaTracker/system.cpp

@@ -231,6 +231,8 @@ void Tracker::set_mode(enum ControlMode mode, mode_reason_t reason)
 
 	// log mode change
 	logger.Write_Mode(control_mode, reason);
+
+    nav_status.bearing = ahrs.yaw_sensor * 0.01f;
 }
 
 /*

AntennaTracker/tracking.cpp

@@ -110,7 +110,11 @@ void Tracker::update_tracking(void)
 
     switch (control_mode) {
     case AUTO:
+        if (vehicle.location_valid) {
             update_auto();
+        } else if (tracker.target_set) {
+            update_scan();
+        }
         break;
 
     case MANUAL: