From c6b6320b43ea7bcb56205e9bcca294676dc92a87 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 15 Feb 2012 08:46:21 +1100
Subject: [PATCH] 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
---
 ArduPlane/GCS_Mavlink.pde | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index c596cf66af..ed7b0167d1 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -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,