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Copter: report NAV_CONTROLLER_OUTPUT in RTL, Guided 

This allows the GCS to display to the user where the vehicle is flying
to in RTL and Guided flight modes
master
Randy Mackay 10 years ago
parent
f41d7ddaee
commit
f54a13f24b
1 changed files with 2 additions and 2 deletions
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  1. 4
      ArduCopter/navigation.pde

4
ArduCopter/navigation.pde
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@ -38,7 +38,7 @@ static void calc_wp_distance()
// get target from loiter or wpinav controller // get target from loiter or wpinav controller
if (control_mode == LOITER || control_mode == CIRCLE) { if (control_mode == LOITER || control_mode == CIRCLE) {
wp_distance = wp_nav.get_loiter_distance_to_target(); wp_distance = wp_nav.get_loiter_distance_to_target();
}else if (control_mode == AUTO) { }else if (control_mode == AUTO || control_mode == RTL || (control_mode == GUIDED && guided_mode == Guided_WP)) {
wp_distance = wp_nav.get_wp_distance_to_destination(); wp_distance = wp_nav.get_wp_distance_to_destination();
}else{ }else{
wp_distance = 0; wp_distance = 0;
@ -51,7 +51,7 @@ static void calc_wp_bearing()
// get target from loiter or wpinav controller // get target from loiter or wpinav controller
if (control_mode == LOITER || control_mode == CIRCLE) { if (control_mode == LOITER || control_mode == CIRCLE) {
wp_bearing = wp_nav.get_loiter_bearing_to_target(); wp_bearing = wp_nav.get_loiter_bearing_to_target();
} else if (control_mode == AUTO) { } else if (control_mode == AUTO || control_mode == RTL || (control_mode == GUIDED && guided_mode == Guided_WP)) {
wp_bearing = wp_nav.get_wp_bearing_to_destination(); wp_bearing = wp_nav.get_wp_bearing_to_destination();
} else { } else {
wp_bearing = 0; wp_bearing = 0;

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