ardupilot/APMrover2/navigation.cpp

#include "Rover.h"

//****************************************************************
// Function that will calculate the desired direction to fly and distance
//****************************************************************
void Rover::navigate()
{
	// do not navigate with corrupt data
	// ---------------------------------
	if (!have_position) {
		return;
	}

	if ((next_WP.lat == 0 && next_WP.lng == 0) || (home_is_set==HOME_UNSET)){
		return;
	}

	// waypoint distance from rover
	// ----------------------------
	wp_distance = get_distance(current_loc, next_WP);

	// control mode specific updates to nav_bearing
	// --------------------------------------------
	update_navigation();
}