Plane: invert auto_state.no_crosstrack flag to be auto_state.crosstrack. Non-functional change

ArduPlane/GCS_Mavlink.cpp

@@ -1276,7 +1276,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
                     plane.auto_state.takeoff_altitude_rel_cm = packet.param1 * 100;
                 }
                 if (plane.landing.request_go_around()) {
-                    plane.auto_state.next_wp_no_crosstrack = true;
+                    plane.auto_state.next_wp_crosstrack = false;
                     result = MAV_RESULT_ACCEPTED;
                 }
             }
@@ -1923,7 +1923,7 @@ AP_Mission *GCS_MAVLINK_Plane::get_mission()
 
 void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg)
 {
-    plane.auto_state.next_wp_no_crosstrack = true;
+    plane.auto_state.next_wp_crosstrack = false;
     GCS_MAVLINK::handle_mission_set_current(mission, msg);
     if (plane.control_mode == AUTO && plane.mission.state() == AP_Mission::MISSION_STOPPED) {
         plane.mission.resume();

ArduPlane/Plane.cpp

@@ -28,8 +28,6 @@ Plane::Plane(void)
 {
     // C++11 doesn't allow in-class initialisation of bitfields
     auto_state.takeoff_complete = true;
-    auto_state.next_wp_no_crosstrack = true;
-    auto_state.no_crosstrack = true;
 }
 
 Plane plane;

ArduPlane/Plane.h

@@ -452,11 +452,11 @@ private:
         // should we fly inverted?
         bool inverted_flight:1;
 
-        // should we disable cross-tracking for the next waypoint?
-        bool next_wp_no_crosstrack:1;
+        // should we enable cross-tracking for the next waypoint?
+        bool next_wp_crosstrack:1;
 
         // should we use cross-tracking for this waypoint?
-        bool no_crosstrack:1;
+        bool crosstrack:1;
 
         // in FBWA taildragger takeoff mode
         bool fbwa_tdrag_takeoff_mode:1;

ArduPlane/commands.cpp

@@ -9,16 +9,16 @@
  */
 void Plane::set_next_WP(const struct Location &loc)
 {
-    if (auto_state.next_wp_no_crosstrack) {
+    if (auto_state.next_wp_crosstrack) {
+        // copy the current WP into the OldWP slot
+        prev_WP_loc = next_WP_loc;
+        auto_state.crosstrack = true;
+    } else {
         // we should not try to cross-track for this waypoint
         prev_WP_loc = current_loc;
         // use cross-track for the next waypoint
-        auto_state.next_wp_no_crosstrack = false;
-        auto_state.no_crosstrack = true;
-    } else {
-        // copy the current WP into the OldWP slot
-        prev_WP_loc = next_WP_loc;
-        auto_state.no_crosstrack = false;
+        auto_state.next_wp_crosstrack = true;
+        auto_state.crosstrack = false;
     }
 
     // Load the next_WP slot

ArduPlane/commands_logic.cpp

@@ -344,8 +344,8 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd)        // Ret
 
 void Plane::do_RTL(int32_t rtl_altitude)
 {
-    auto_state.next_wp_no_crosstrack = true;
-    auto_state.no_crosstrack = true;
+    auto_state.next_wp_crosstrack = false;
+    auto_state.crosstrack = false;
     prev_WP_loc = current_loc;
     next_WP_loc = rally.calc_best_rally_or_home_location(current_loc, rtl_altitude);
     setup_terrain_target_alt(next_WP_loc);
@@ -575,7 +575,7 @@ bool Plane::verify_takeoff()
 
         // don't cross-track on completion of takeoff, as otherwise we
         // can end up doing too sharp a turn
-        auto_state.next_wp_no_crosstrack = true;
+        auto_state.next_wp_crosstrack = false;
         return true;
     } else {
         return false;
@@ -608,10 +608,10 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
         }
     }
 
-    if (auto_state.no_crosstrack) {
-        nav_controller->update_waypoint(current_loc, flex_next_WP_loc);
-    } else {
+    if (auto_state.crosstrack) {
         nav_controller->update_waypoint(prev_WP_loc, flex_next_WP_loc);
+    } else {
+        nav_controller->update_waypoint(current_loc, flex_next_WP_loc);
     }
 
     // see if the user has specified a maximum distance to waypoint

ArduPlane/navigation.cpp

@@ -187,7 +187,7 @@ void Plane::update_loiter(uint16_t radius)
         }
     } else if ((loiter.start_time_ms == 0 &&
                 control_mode == AUTO &&
-                !auto_state.no_crosstrack &&
+                auto_state.crosstrack &&
                 get_distance(current_loc, next_WP_loc) > radius*3) ||
                (control_mode == RTL && quadplane.available() && quadplane.rtl_mode == 1)) {
         /*

ArduPlane/system.cpp

@@ -270,7 +270,7 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
     auto_state.inverted_flight = false;
 
     // don't cross-track when starting a mission
-    auto_state.next_wp_no_crosstrack = true;
+    auto_state.next_wp_crosstrack = false;
 
     // reset landing check
     auto_state.checked_for_autoland = false;