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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
This commit is contained in:
Andrew Tridgell 2012-02-15 08:46:21 +11:00
parent 252a2d0c9b
commit c6b6320b43
1 changed files with 3 additions and 2 deletions
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ArduPlane/GCS_Mavlink.pde
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@ -322,12 +322,13 @@ static void NOINLINE send_location(mavlink_channel_t chan)
static void NOINLINE send_nav_controller_output(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( mavlink_msg_nav_controller_output_send(
chan, chan,
nav_roll / 1.0e2, nav_roll / 1.0e2,
nav_pitch / 1.0e2, nav_pitch / 1.0e2,
nav_bearing / 1.0e2, bearing,
target_bearing / 1.0e2, target_bearing / 100,
wp_distance, wp_distance,
altitude_error / 1.0e2, altitude_error / 1.0e2,
airspeed_error, airspeed_error,