From 3ff7b047d5275ed2a659a73fcc9ff8f6d5eacdb7 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Fri, 9 Dec 2011 15:34:20 -0800
Subject: [PATCH] Added Bearing to home, distance to home calcs

---
 ArduCopter/navigation.pde | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 044cc072bc..d262615a6d 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -12,6 +12,7 @@ static byte navigate()
 	// waypoint distance from plane
 	// ----------------------------
 	wp_distance = get_distance(&current_loc, &next_WP);
+	home_distance = get_distance(&current_loc, &home);
 
 	if (wp_distance < 0){
 		//gcs_send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0"));
@@ -23,6 +24,7 @@ static byte navigate()
 	// target_bearing is where we should be heading
 	// --------------------------------------------
 	target_bearing 	= get_bearing(&current_loc, &next_WP);
+	home_to_copter_bearing 	= get_bearing(&home, &current_loc);
 	return 1;
 }