APM: report the nav_bearing as hold_course when enabled

this gives a more accurate view of the navigation code, as when hold_course is not -1 it overrides nav_bearing
13 years ago · c662140a2b
1 changed files with 3 additions and 2 deletions
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@ -322,12 +322,13 @@ static void NOINLINE send_location(mavlink_channel_t chan)
				@@ -322,12 +322,13 @@ static void NOINLINE send_location(mavlink_channel_t chan)

 static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
 {
+    int16_t bearing = (hold_course==-1?nav_bearing:hold_course) / 100;
    mavlink_msg_nav_controller_output_send(
        chan,
        nav_roll / 1.0e2,
        nav_pitch / 1.0e2,
-        nav_bearing / 1.0e2,
-        target_bearing / 1.0e2,
+        bearing,
+        target_bearing / 100,
        wp_distance,
        altitude_error / 1.0e2,
        airspeed_error,